what's means in nvtracker?

Hi,

I have set nvtracker in my pipeline.
In running state, it print log with:

gstnvtracker: Optional NvMOT_RemoveStreams not implemented
gstnvtracker: Batch processing is OFF

first question:
what’s means “Optional NvMOT_RemoveStreams not implemented”, if it would affect performance?

second question:
when I set batch process TRUE, why it print atch processing is OFF?

g_object_set (G_OBJECT (nvtracker),
                      "ll-lib-file", ll_lib_file.c_str(),
                      "gpu-id", gpu_id,
                      "tracker-width", 640,
                      "tracker-height", 368,
                      "enable-batch-process", TRUE,
                      NULL);

Thanks.

Hi,

there is another question:

when I use DCF algrithmn, why can’t I get the object id ? they all “0”.

Thanks.

Hi,

gstnvtracker: Batch processing is OFF

Which tracker are you using when you saw this message ? Can you also specify the pipeline you are trying to run ?

Hi,

I have known the IOU and KLT tracker are not support batch.

And now I used DCF tracker, but I can’t get the object ID. Why?

Thanks.

Can you also specify where exactly you are reading the object id from? Can you also share the config files?

gstnvtracker: Optional NvMOT_RemoveStreams not implemented

Low-level tracker can optionally implement NvMOT_RemoveStreams to clean up after dynamically removed streams. It is optional so there’s no problem if it’s not implemented. That output just shows whether it’s implemented.

Hi,

I read it from probe in nvtracker src pad, and it print always 0, the KLT and IOU is normal.

static GstPadProbeReturn
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;

    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 (l_obj = frame_meta->obj_meta_list; l_obj != NULL;
             l_obj = l_obj->next) {
            obj_meta = (NvDsObjectMeta *) (l_obj->data);
            g_print("object id is = %d.\n", obj_meta->object_id);
        }
    }

    return GST_PAD_PROBE_OK;
}

the attribute:

g_object_set (G_OBJECT (nvtracker),
                      "ll-lib-file", ll_lib_file.c_str(),
                      "ll-config-file", ll_config_file.c_str(),
                      "gpu-id", gpu_id,
                      "tracker-width", 640,
                      "tracker-height", 360,
                      "enable-batch-process", TRUE,
                      NULL);

And the config file:

%YAML:1.0
  
NvDCF:
  useBufferedOutput: 0

  maxTargetsPerStream: 30 # Max number of targets to track per stream. Recommended to set >10. Note: this value should account for the targets being tracked in shadow mode as well. Max value depends on the GPU memory capacity

  filterLr: 0.11 # learning rate for DCF filter in exponential moving average. Valid Range: [0.0, 1.0]
  gaussianSigma: 0.75 # Standard deviation for Gaussian for desired response when creating DCF filter

  minDetectorConfidence: 0.0 # If the confidence of a detector bbox is lower than this, then it won't be considered for tracking
  minTrackerConfidence: 0.6 # If the confidence of an object tracker is lower than this on the fly, then it will be tracked in shadow mode. Valid Range: [0.0, 1.0]

  featureImgSizeLevel: 1 # Size of a feature image. Valid range: {1, 2, 3, 4, 5}, from the smallest to the largest
  SearchRegionPaddingScale: 3 # Search region size. Determines how large the search region should be scaled from the target bbox.  Valid range: {1, 2, 3}, from the smallest to the largest

  maxShadowTrackingAge: 9        # Max length of shadow tracking (the shadow tracking age is incremented when (1) there's detector input yet no match or (2) tracker confidence is lower than minTrackerConfidence). Once reached, the tracker will be terminated.
  probationAge: 12                # Once the tracker age (incremented at every frame) reaches this, the tracker is considered to be valid
  earlyTerminationAge: 2         # Early termination age (in terms of shadow tracking age) during the probation period

  minVisibiilty4Tracking: 0.1    # If the visibility of the bbox of a tracker gets lower, then it will be terminated

Could you try with the following config params in the low-level tracker config file?

probationAge: 0
earlyTerminationAge: 0

Hi @Clancylian,

We have verified this and there’s no issue with the NvDCF tracker. Are you seeing this behavior with the basic app or a custom app you have developed ? In any case, you can verify this using the deepstream-test2 app. I’ve attached the source code below from deepstream-test2 app which prints the object id from a probe attached to tracker’s source pad. It should print the object id’s for all the objects detected in the frame -

/*
 * Copyright (c) 2018-2019, NVIDIA CORPORATION. All rights reserved.
 *
 * 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 <stdlib.h>
#include <string.h>

#include "gstnvdsmeta.h"

#define PGIE_CONFIG_FILE  "dstest2_pgie_config.txt"
#define SGIE1_CONFIG_FILE "dstest2_sgie1_config.txt"
#define SGIE2_CONFIG_FILE "dstest2_sgie2_config.txt"
#define SGIE3_CONFIG_FILE "dstest2_sgie3_config.txt"
#define MAX_DISPLAY_LEN 64

#define TRACKER_CONFIG_FILE "dstest2_tracker_config.txt"
#define MAX_TRACKING_ID_LEN 16

#define PGIE_CLASS_ID_VEHICLE 0
#define PGIE_CLASS_ID_PERSON 2

/* 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 4000000

gint frame_number = 0;
/* These are the strings of the labels for the respective models */
gchar sgie1_classes_str[12][32] = { "black", "blue", "brown", "gold", "green",
  "grey", "maroon", "orange", "red", "silver", "white", "yellow"
};

gchar sgie2_classes_str[20][32] =
    { "Acura", "Audi", "BMW", "Chevrolet", "Chrysler",
  "Dodge", "Ford", "GMC", "Honda", "Hyundai", "Infiniti", "Jeep", "Kia",
      "Lexus", "Mazda", "Mercedes", "Nissan",
  "Subaru", "Toyota", "Volkswagen"
};

gchar sgie3_classes_str[6][32] = { "coupe", "largevehicle", "sedan", "suv",
  "truck", "van"
};

gchar pgie_classes_str[4][32] =
    { "Vehicle", "TwoWheeler", "Person", "RoadSign" };

/* gie_unique_id is one of the properties in the above dstest2_sgiex_config.txt
 * files. These should be unique and known when we want to parse the Metadata
 * respective to the sgie labels. Ideally these should be read from the config
 * files but for brevity we ensure they are same. */

guint sgie1_unique_id = 2;
guint sgie2_unique_id = 3;
guint sgie3_unique_id = 4;

/* 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. */
static GstPadProbeReturn
osd_sink_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;

    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);
            g_print("OBJECT_ID ----- %d \n", obj_meta->object_id);
            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++;
            }
        }
        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 = 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 = 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 ("Frame Number = %d Number of objects = %d "
            "Vehicle Count = %d Person Count = %d\n",
            frame_number, num_rects, vehicle_count, person_count);
    frame_number++;
    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_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;
    }
    default:
      break;
  }
  return TRUE;
}

/* Tracker config parsing */

#define CHECK_ERROR(error) \
    if (error) { \
        g_printerr ("Error while parsing config file: %s\n", error->message); \
        goto done; \
    }

#define CONFIG_GROUP_TRACKER "tracker"
#define CONFIG_GROUP_TRACKER_WIDTH "tracker-width"
#define CONFIG_GROUP_TRACKER_HEIGHT "tracker-height"
#define CONFIG_GROUP_TRACKER_LL_CONFIG_FILE "ll-config-file"
#define CONFIG_GROUP_TRACKER_LL_LIB_FILE "ll-lib-file"
#define CONFIG_GROUP_TRACKER_ENABLE_BATCH_PROCESS "enable-batch-process"
#define CONFIG_GPU_ID "gpu-id"

static gchar *
get_absolute_file_path (gchar *cfg_file_path, gchar *file_path)
{
  gchar abs_cfg_path[PATH_MAX + 1];
  gchar *abs_file_path;
  gchar *delim;

  if (file_path && file_path[0] == '/') {
    return file_path;
  }

  if (!realpath (cfg_file_path, abs_cfg_path)) {
    g_free (file_path);
    return NULL;
  }

  // Return absolute path of config file if file_path is NULL.
  if (!file_path) {
    abs_file_path = g_strdup (abs_cfg_path);
    return abs_file_path;
  }

  delim = g_strrstr (abs_cfg_path, "/");
  *(delim + 1) = '

/*

  • Copyright © 2018-2019, NVIDIA CORPORATION. All rights reserved.
  • 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 <stdlib.h>
#include <string.h>

#include “gstnvdsmeta.h”

#define PGIE_CONFIG_FILE “dstest2_pgie_config.txt”
#define SGIE1_CONFIG_FILE “dstest2_sgie1_config.txt”
#define SGIE2_CONFIG_FILE “dstest2_sgie2_config.txt”
#define SGIE3_CONFIG_FILE “dstest2_sgie3_config.txt”
#define MAX_DISPLAY_LEN 64

#define TRACKER_CONFIG_FILE “dstest2_tracker_config.txt”
#define MAX_TRACKING_ID_LEN 16

#define PGIE_CLASS_ID_VEHICLE 0
#define PGIE_CLASS_ID_PERSON 2

/* 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 4000000

gint frame_number = 0;
/* These are the strings of the labels for the respective models */
gchar sgie1_classes_str[12][32] = { “black”, “blue”, “brown”, “gold”, “green”,
“grey”, “maroon”, “orange”, “red”, “silver”, “white”, “yellow”
};

gchar sgie2_classes_str[20][32] =
{ “Acura”, “Audi”, “BMW”, “Chevrolet”, “Chrysler”,
“Dodge”, “Ford”, “GMC”, “Honda”, “Hyundai”, “Infiniti”, “Jeep”, “Kia”,
“Lexus”, “Mazda”, “Mercedes”, “Nissan”,
“Subaru”, “Toyota”, “Volkswagen”
};

gchar sgie3_classes_str[6][32] = { “coupe”, “largevehicle”, “sedan”, “suv”,
“truck”, “van”
};

gchar pgie_classes_str[4][32] =
{ “Vehicle”, “TwoWheeler”, “Person”, “RoadSign” };

/* gie_unique_id is one of the properties in the above dstest2_sgiex_config.txt

  • files. These should be unique and known when we want to parse the Metadata
  • respective to the sgie labels. Ideally these should be read from the config
  • files but for brevity we ensure they are same. */

guint sgie1_unique_id = 2;
guint sgie2_unique_id = 3;
guint sgie3_unique_id = 4;

/* 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. */
    static GstPadProbeReturn
    osd_sink_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;

    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);
         g_print("OBJECT_ID ----- %d \n", obj_meta->object_id);
         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++;
         }
     }
     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 = 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 = 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 ("Frame Number = %d Number of objects = %d "
    “Vehicle Count = %d Person Count = %d\n”,
    frame_number, num_rects, vehicle_count, person_count);
    frame_number++;
    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_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;
}
default:
break;
}
return TRUE;
}

/* Tracker config parsing */

#define CHECK_ERROR(error)
if (error) {
g_printerr (“Error while parsing config file: %s\n”, error->message);
goto done;
}

#define CONFIG_GROUP_TRACKER “tracker”
#define CONFIG_GROUP_TRACKER_WIDTH “tracker-width”
#define CONFIG_GROUP_TRACKER_HEIGHT “tracker-height”
#define CONFIG_GROUP_TRACKER_LL_CONFIG_FILE “ll-config-file”
#define CONFIG_GROUP_TRACKER_LL_LIB_FILE “ll-lib-file”
#define CONFIG_GROUP_TRACKER_ENABLE_BATCH_PROCESS “enable-batch-process”
#define CONFIG_GPU_ID “gpu-id”

static gchar *
get_absolute_file_path (gchar *cfg_file_path, gchar *file_path)
{
gchar abs_cfg_path[PATH_MAX + 1];
gchar *abs_file_path;
gchar *delim;

if (file_path && file_path[0] == ‘/’) {
return file_path;
}

if (!realpath (cfg_file_path, abs_cfg_path)) {
g_free (file_path);
return NULL;
}

// Return absolute path of config file if file_path is NULL.
if (!file_path) {
abs_file_path = g_strdup (abs_cfg_path);
return abs_file_path;
}

delim = g_strrstr (abs_cfg_path, “/”);
*(delim + 1) = ‘\0’;

abs_file_path = g_strconcat (abs_cfg_path, file_path, NULL);
g_free (file_path);

return abs_file_path;
}

static gboolean
set_tracker_properties (GstElement *nvtracker)
{
gboolean ret = FALSE;
GError *error = NULL;
gchar **keys = NULL;
gchar **key = NULL;
GKeyFile *key_file = g_key_file_new ();

if (!g_key_file_load_from_file (key_file, TRACKER_CONFIG_FILE, G_KEY_FILE_NONE,
&error)) {
g_printerr (“Failed to load config file: %s\n”, error->message);
return FALSE;
}

keys = g_key_file_get_keys (key_file, CONFIG_GROUP_TRACKER, NULL, &error);
CHECK_ERROR (error);

for (key = keys; *key; key++) {
if (!g_strcmp0 (*key, CONFIG_GROUP_TRACKER_WIDTH)) {
gint width =
g_key_file_get_integer (key_file, CONFIG_GROUP_TRACKER,
CONFIG_GROUP_TRACKER_WIDTH, &error);
CHECK_ERROR (error);
g_object_set (G_OBJECT (nvtracker), “tracker-width”, width, NULL);
} else if (!g_strcmp0 (*key, CONFIG_GROUP_TRACKER_HEIGHT)) {
gint height =
g_key_file_get_integer (key_file, CONFIG_GROUP_TRACKER,
CONFIG_GROUP_TRACKER_HEIGHT, &error);
CHECK_ERROR (error);
g_object_set (G_OBJECT (nvtracker), “tracker-height”, height, NULL);
} else if (!g_strcmp0 (*key, CONFIG_GPU_ID)) {
guint gpu_id =
g_key_file_get_integer (key_file, CONFIG_GROUP_TRACKER,
CONFIG_GPU_ID, &error);
CHECK_ERROR (error);
g_object_set (G_OBJECT (nvtracker), “gpu_id”, gpu_id, NULL);
} else if (!g_strcmp0 (key, CONFIG_GROUP_TRACKER_LL_CONFIG_FILE)) {
char
ll_config_file = get_absolute_file_path (TRACKER_CONFIG_FILE,
g_key_file_get_string (key_file,
CONFIG_GROUP_TRACKER,
CONFIG_GROUP_TRACKER_LL_CONFIG_FILE, &error));
CHECK_ERROR (error);
g_object_set (G_OBJECT (nvtracker), “ll-config-file”, ll_config_file, NULL);
} else if (!g_strcmp0 (key, CONFIG_GROUP_TRACKER_LL_LIB_FILE)) {
char
ll_lib_file = get_absolute_file_path (TRACKER_CONFIG_FILE,
g_key_file_get_string (key_file,
CONFIG_GROUP_TRACKER,
CONFIG_GROUP_TRACKER_LL_LIB_FILE, &error));
CHECK_ERROR (error);
g_object_set (G_OBJECT (nvtracker), “ll-lib-file”, ll_lib_file, NULL);
} else if (!g_strcmp0 (*key, CONFIG_GROUP_TRACKER_ENABLE_BATCH_PROCESS)) {
gboolean enable_batch_process =
g_key_file_get_integer (key_file, CONFIG_GROUP_TRACKER,
CONFIG_GROUP_TRACKER_ENABLE_BATCH_PROCESS, &error);
CHECK_ERROR (error);
g_object_set (G_OBJECT (nvtracker), “enable_batch_process”,
enable_batch_process, NULL);
} else {
g_printerr (“Unknown key ‘%s’ for group [%s]”, *key,
CONFIG_GROUP_TRACKER);
}
}

ret = TRUE;
done:
if (error) {
g_error_free (error);
}
if (keys) {
g_strfreev (keys);
}
if (!ret) {
g_printerr ("%s failed", func);
}
return ret;
}

int
main (int argc, char *argv)
{
GMainLoop *loop = NULL;
GstElement *pipeline = NULL, *source = NULL, *h264parser = NULL,
*decoder = NULL, *streammux = NULL, *sink = NULL, *pgie = NULL, *nvvidconv = NULL,
*nvosd = NULL, *sgie1 = NULL, *sgie2 = NULL, *sgie3 = NULL, *nvtracker = NULL;
g_print (“With tracker\n”);
#ifdef PLATFORM_TEGRA
GstElement *transform = NULL;
#endif
GstBus *bus = NULL;
guint bus_watch_id = 0;
GstPad *osd_sink_pad = NULL;

/* Check input arguments */
if (argc != 2) {
g_printerr (“Usage: %s \n”, argv[0]);
return -1;
}

/* Standard GStreamer initialization */
gst_init (&argc, &argv);
loop = g_main_loop_new (NULL, FALSE);

/* Create gstreamer elements */

/* Create Pipeline element that will be a container of other elements */
pipeline = gst_pipeline_new (“dstest2-pipeline”);

/* Source element for reading from the file */
source = gst_element_factory_make (“filesrc”, “file-source”);

/* Since the data format in the input file is elementary h264 stream,

  • we need a h264parser */
    h264parser = gst_element_factory_make (“h264parse”, “h264-parser”);

/* Use nvdec_h264 for hardware accelerated decode on GPU */
decoder = gst_element_factory_make (“nvv4l2decoder”, “nvv4l2-decoder”);

/* Create nvstreammux instance to form batches from one or more sources. */
streammux = gst_element_factory_make (“nvstreammux”, “stream-muxer”);

if (!pipeline || !streammux) {
g_printerr (“One element could not be created. Exiting.\n”);
return -1;
}

/* Use nvinfer to run inferencing on decoder’s output,

  • behaviour of inferencing is set through config file */
    pgie = gst_element_factory_make (“nvinfer”, “primary-nvinference-engine”);

/* We need to have a tracker to track the identified objects */
nvtracker = gst_element_factory_make (“nvtracker”, “tracker”);

/* We need three secondary gies so lets create 3 more instances of
nvinfer */
sgie1 = gst_element_factory_make (“nvinfer”, “secondary1-nvinference-engine”);

sgie2 = gst_element_factory_make (“nvinfer”, “secondary2-nvinference-engine”);

sgie3 = gst_element_factory_make (“nvinfer”, “secondary3-nvinference-engine”);

/* Use convertor to convert from NV12 to RGBA as required by nvosd */
nvvidconv = gst_element_factory_make (“nvvideoconvert”, “nvvideo-converter”);

/* Create OSD to draw on the converted RGBA buffer */
nvosd = gst_element_factory_make (“nvdsosd”, “nv-onscreendisplay”);

/* Finally render the osd output */
#ifdef PLATFORM_TEGRA
transform = gst_element_factory_make (“nvegltransform”, “nvegl-transform”);
#endif
sink = gst_element_factory_make (“nveglglessink”, “nvvideo-renderer”);

if (!source || !h264parser || !decoder || !pgie ||
!nvtracker || !sgie1 || !sgie2 || !sgie3 || !nvvidconv || !nvosd || !sink) {
g_printerr (“One element could not be created. Exiting.\n”);
return -1;
}

#ifdef PLATFORM_TEGRA
if(!transform) {
g_printerr (“One tegra element could not be created. Exiting.\n”);
return -1;
}
#endif

/* Set the input filename to the source element */
g_object_set (G_OBJECT (source), “location”, argv[1], NULL);

g_object_set (G_OBJECT (streammux), “width”, MUXER_OUTPUT_WIDTH, “height”,
MUXER_OUTPUT_HEIGHT, “batch-size”, 1,
“batched-push-timeout”, MUXER_BATCH_TIMEOUT_USEC, NULL);

/* Set all the necessary properties of the nvinfer element,

  • the necessary ones are : */
    g_object_set (G_OBJECT (pgie), “config-file-path”, PGIE_CONFIG_FILE, NULL);
    g_object_set (G_OBJECT (sgie1), “config-file-path”, SGIE1_CONFIG_FILE, NULL);
    g_object_set (G_OBJECT (sgie2), “config-file-path”, SGIE2_CONFIG_FILE, NULL);
    g_object_set (G_OBJECT (sgie3), “config-file-path”, SGIE3_CONFIG_FILE, NULL);

/* Set necessary properties of the tracker element. */
if (!set_tracker_properties(nvtracker)) {
g_printerr (“Failed to set tracker properties. Exiting.\n”);
return -1;
}

/* we add a message handler */
bus = gst_pipeline_get_bus (GST_PIPELINE (pipeline));
bus_watch_id = gst_bus_add_watch (bus, bus_call, loop);
gst_object_unref (bus);

/* Set up the pipeline /
/
we add all elements into the pipeline /
/
decoder | pgie1 | nvtracker | sgie1 | sgie2 | sgie3 | etc… */
#ifdef PLATFORM_TEGRA
gst_bin_add_many (GST_BIN (pipeline),
source, h264parser, decoder, streammux, pgie, nvtracker, sgie1, sgie2, sgie3,
nvvidconv, nvosd, transform, sink, NULL);
#else
gst_bin_add_many (GST_BIN (pipeline),
source, h264parser, decoder, streammux, pgie, nvtracker, sgie1, sgie2, sgie3,
nvvidconv, nvosd, sink, NULL);
#endif

GstPad *sinkpad, *srcpad;
gchar pad_name_sink[16] = “sink_0”;
gchar pad_name_src[16] = “src”;

sinkpad = gst_element_get_request_pad (streammux, pad_name_sink);
if (!sinkpad) {
g_printerr (“Streammux request sink pad failed. Exiting.\n”);
return -1;
}

srcpad = gst_element_get_static_pad (decoder, pad_name_src);
if (!srcpad) {
g_printerr (“Decoder request src pad failed. Exiting.\n”);
return -1;
}

if (gst_pad_link (srcpad, sinkpad) != GST_PAD_LINK_OK) {
g_printerr (“Failed to link decoder to stream muxer. Exiting.\n”);
return -1;
}

gst_object_unref (sinkpad);
gst_object_unref (srcpad);

/* Link the elements together */
if (!gst_element_link_many (source, h264parser, decoder, NULL)) {
g_printerr (“Elements could not be linked: 1. Exiting.\n”);
return -1;
}

#ifdef PLATFORM_TEGRA
if (!gst_element_link_many (streammux, pgie, nvtracker, sgie1,
sgie2, sgie3, nvvidconv, nvosd, transform, sink, NULL)) {
g_printerr (“Elements could not be linked. Exiting.\n”);
return -1;
}
#else
if (!gst_element_link_many (streammux, pgie, nvtracker, sgie1,
sgie2, sgie3, nvvidconv, nvosd, sink, NULL)) {
g_printerr (“Elements could not be linked. Exiting.\n”);
return -1;
}
#endif

/* 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. */
    osd_sink_pad = gst_element_get_static_pad (nvtracker, “src”);
    if (!osd_sink_pad)
    g_print (“Unable to get sink pad\n”);
    else
    gst_pad_add_probe (osd_sink_pad, GST_PAD_PROBE_TYPE_BUFFER,
    osd_sink_pad_buffer_probe, NULL, NULL);

/* Set the pipeline to “playing” state */
g_print (“Now playing: %s\n”, argv[1]);
gst_element_set_state (pipeline, GST_STATE_PLAYING);
GST_DEBUG_BIN_TO_DOT_FILE_WITH_TS (GST_BIN (pipeline), GST_DEBUG_GRAPH_SHOW_ALL,
“test2-app-playing”);

/* Iterate */
g_print (“Running…\n”);
g_main_loop_run (loop);

/* Out of the main loop, clean up nicely */
g_print (“Returned, stopping playback\n”);
gst_element_set_state (pipeline, GST_STATE_NULL);
g_print (“Deleting pipeline\n”);
gst_object_unref (GST_OBJECT (pipeline));
g_source_remove (bus_watch_id);
g_main_loop_unref (loop);
return 0;
}

';

  abs_file_path = g_strconcat (abs_cfg_path, file_path, NULL);
  g_free (file_path);

  return abs_file_path;
}

static gboolean
set_tracker_properties (GstElement *nvtracker)
{
  gboolean ret = FALSE;
  GError *error = NULL;
  gchar **keys = NULL;
  gchar **key = NULL;
  GKeyFile *key_file = g_key_file_new ();

  if (!g_key_file_load_from_file (key_file, TRACKER_CONFIG_FILE, G_KEY_FILE_NONE,
          &error)) {
    g_printerr ("Failed to load config file: %s\n", error->message);
    return FALSE;
  }

  keys = g_key_file_get_keys (key_file, CONFIG_GROUP_TRACKER, NULL, &error);
  CHECK_ERROR (error);

  for (key = keys; *key; key++) {
    if (!g_strcmp0 (*key, CONFIG_GROUP_TRACKER_WIDTH)) {
      gint width =
          g_key_file_get_integer (key_file, CONFIG_GROUP_TRACKER,
          CONFIG_GROUP_TRACKER_WIDTH, &error);
      CHECK_ERROR (error);
      g_object_set (G_OBJECT (nvtracker), "tracker-width", width, NULL);
    } else if (!g_strcmp0 (*key, CONFIG_GROUP_TRACKER_HEIGHT)) {
      gint height =
          g_key_file_get_integer (key_file, CONFIG_GROUP_TRACKER,
          CONFIG_GROUP_TRACKER_HEIGHT, &error);
      CHECK_ERROR (error);
      g_object_set (G_OBJECT (nvtracker), "tracker-height", height, NULL);
    } else if (!g_strcmp0 (*key, CONFIG_GPU_ID)) {
      guint gpu_id =
          g_key_file_get_integer (key_file, CONFIG_GROUP_TRACKER,
          CONFIG_GPU_ID, &error);
      CHECK_ERROR (error);
      g_object_set (G_OBJECT (nvtracker), "gpu_id", gpu_id, NULL);
    } else if (!g_strcmp0 (*key, CONFIG_GROUP_TRACKER_LL_CONFIG_FILE)) {
      char* ll_config_file = get_absolute_file_path (TRACKER_CONFIG_FILE,
                g_key_file_get_string (key_file,
                    CONFIG_GROUP_TRACKER,
                    CONFIG_GROUP_TRACKER_LL_CONFIG_FILE, &error));
      CHECK_ERROR (error);
      g_object_set (G_OBJECT (nvtracker), "ll-config-file", ll_config_file, NULL);
    } else if (!g_strcmp0 (*key, CONFIG_GROUP_TRACKER_LL_LIB_FILE)) {
      char* ll_lib_file = get_absolute_file_path (TRACKER_CONFIG_FILE,
                g_key_file_get_string (key_file,
                    CONFIG_GROUP_TRACKER,
                    CONFIG_GROUP_TRACKER_LL_LIB_FILE, &error));
      CHECK_ERROR (error);
      g_object_set (G_OBJECT (nvtracker), "ll-lib-file", ll_lib_file, NULL);
    } else if (!g_strcmp0 (*key, CONFIG_GROUP_TRACKER_ENABLE_BATCH_PROCESS)) {
      gboolean enable_batch_process =
          g_key_file_get_integer (key_file, CONFIG_GROUP_TRACKER,
          CONFIG_GROUP_TRACKER_ENABLE_BATCH_PROCESS, &error);
      CHECK_ERROR (error);
      g_object_set (G_OBJECT (nvtracker), "enable_batch_process",
                    enable_batch_process, NULL);
    } else {
      g_printerr ("Unknown key '%s' for group [%s]", *key,
          CONFIG_GROUP_TRACKER);
    }
  }

  ret = TRUE;
done:
  if (error) {
    g_error_free (error);
  }
  if (keys) {
    g_strfreev (keys);
  }
  if (!ret) {
    g_printerr ("%s failed", __func__);
  }
  return ret;
}

int
main (int argc, char *argv[])
{
  GMainLoop *loop = NULL;
  GstElement *pipeline = NULL, *source = NULL, *h264parser = NULL,
      *decoder = NULL, *streammux = NULL, *sink = NULL, *pgie = NULL, *nvvidconv = NULL,
      *nvosd = NULL, *sgie1 = NULL, *sgie2 = NULL, *sgie3 = NULL, *nvtracker = NULL;
  g_print ("With tracker\n");
#ifdef PLATFORM_TEGRA
  GstElement *transform = NULL;
#endif
  GstBus *bus = NULL;
  guint bus_watch_id = 0;
  GstPad *osd_sink_pad = NULL;

  /* Check input arguments */
  if (argc != 2) {
    g_printerr ("Usage: %s <elementary H264 filename>\n", argv[0]);
    return -1;
  }

  /* Standard GStreamer initialization */
  gst_init (&argc, &argv);
  loop = g_main_loop_new (NULL, FALSE);

  /* Create gstreamer elements */

  /* Create Pipeline element that will be a container of other elements */
  pipeline = gst_pipeline_new ("dstest2-pipeline");

  /* Source element for reading from the file */
  source = gst_element_factory_make ("filesrc", "file-source");

  /* Since the data format in the input file is elementary h264 stream,
   * we need a h264parser */
  h264parser = gst_element_factory_make ("h264parse", "h264-parser");

  /* Use nvdec_h264 for hardware accelerated decode on GPU */
  decoder = gst_element_factory_make ("nvv4l2decoder", "nvv4l2-decoder");

  /* Create nvstreammux instance to form batches from one or more sources. */
  streammux = gst_element_factory_make ("nvstreammux", "stream-muxer");

  if (!pipeline || !streammux) {
    g_printerr ("One element could not be created. Exiting.\n");
    return -1;
  }

  /* Use nvinfer to run inferencing on decoder's output,
   * behaviour of inferencing is set through config file */
  pgie = gst_element_factory_make ("nvinfer", "primary-nvinference-engine");

  /* We need to have a tracker to track the identified objects */
  nvtracker = gst_element_factory_make ("nvtracker", "tracker");

  /* We need three secondary gies so lets create 3 more instances of
     nvinfer */
  sgie1 = gst_element_factory_make ("nvinfer", "secondary1-nvinference-engine");

  sgie2 = gst_element_factory_make ("nvinfer", "secondary2-nvinference-engine");

  sgie3 = gst_element_factory_make ("nvinfer", "secondary3-nvinference-engine");

  /* Use convertor to convert from NV12 to RGBA as required by nvosd */
  nvvidconv = gst_element_factory_make ("nvvideoconvert", "nvvideo-converter");

  /* Create OSD to draw on the converted RGBA buffer */
  nvosd = gst_element_factory_make ("nvdsosd", "nv-onscreendisplay");

  /* Finally render the osd output */
#ifdef PLATFORM_TEGRA
  transform = gst_element_factory_make ("nvegltransform", "nvegl-transform");
#endif
  sink = gst_element_factory_make ("nveglglessink", "nvvideo-renderer");

  if (!source || !h264parser || !decoder || !pgie ||
      !nvtracker || !sgie1 || !sgie2 || !sgie3 || !nvvidconv || !nvosd || !sink) {
    g_printerr ("One element could not be created. Exiting.\n");
    return -1;
  }

#ifdef PLATFORM_TEGRA
  if(!transform) {
    g_printerr ("One tegra element could not be created. Exiting.\n");
    return -1;
  }
#endif

  /* Set the input filename to the source element */
  g_object_set (G_OBJECT (source), "location", argv[1], NULL);

  g_object_set (G_OBJECT (streammux), "width", MUXER_OUTPUT_WIDTH, "height",
      MUXER_OUTPUT_HEIGHT, "batch-size", 1,
      "batched-push-timeout", MUXER_BATCH_TIMEOUT_USEC, NULL);

  /* Set all the necessary properties of the nvinfer element,
   * the necessary ones are : */
  g_object_set (G_OBJECT (pgie), "config-file-path", PGIE_CONFIG_FILE, NULL);
  g_object_set (G_OBJECT (sgie1), "config-file-path", SGIE1_CONFIG_FILE, NULL);
  g_object_set (G_OBJECT (sgie2), "config-file-path", SGIE2_CONFIG_FILE, NULL);
  g_object_set (G_OBJECT (sgie3), "config-file-path", SGIE3_CONFIG_FILE, NULL);

  /* Set necessary properties of the tracker element. */
  if (!set_tracker_properties(nvtracker)) {
    g_printerr ("Failed to set tracker properties. Exiting.\n");
    return -1;
  }

  /* we add a message handler */
  bus = gst_pipeline_get_bus (GST_PIPELINE (pipeline));
  bus_watch_id = gst_bus_add_watch (bus, bus_call, loop);
  gst_object_unref (bus);

  /* Set up the pipeline */
  /* we add all elements into the pipeline */
  /* decoder | pgie1 | nvtracker | sgie1 | sgie2 | sgie3 | etc.. */
#ifdef PLATFORM_TEGRA
  gst_bin_add_many (GST_BIN (pipeline),
      source, h264parser, decoder, streammux, pgie, nvtracker, sgie1, sgie2, sgie3,
      nvvidconv, nvosd, transform, sink, NULL);
#else
  gst_bin_add_many (GST_BIN (pipeline),
      source, h264parser, decoder, streammux, pgie, nvtracker, sgie1, sgie2, sgie3,
      nvvidconv, nvosd, sink, NULL);
#endif

  GstPad *sinkpad, *srcpad;
  gchar pad_name_sink[16] = "sink_0";
  gchar pad_name_src[16] = "src";

  sinkpad = gst_element_get_request_pad (streammux, pad_name_sink);
  if (!sinkpad) {
    g_printerr ("Streammux request sink pad failed. Exiting.\n");
    return -1;
  }

  srcpad = gst_element_get_static_pad (decoder, pad_name_src);
  if (!srcpad) {
    g_printerr ("Decoder request src pad failed. Exiting.\n");
    return -1;
  }

  if (gst_pad_link (srcpad, sinkpad) != GST_PAD_LINK_OK) {
      g_printerr ("Failed to link decoder to stream muxer. Exiting.\n");
      return -1;
  }

  gst_object_unref (sinkpad);
  gst_object_unref (srcpad);

  /* Link the elements together */
  if (!gst_element_link_many (source, h264parser, decoder, NULL)) {
    g_printerr ("Elements could not be linked: 1. Exiting.\n");
    return -1;
  }

#ifdef PLATFORM_TEGRA
  if (!gst_element_link_many (streammux, pgie, nvtracker, sgie1,
      sgie2, sgie3, nvvidconv, nvosd, transform, sink, NULL)) {
    g_printerr ("Elements could not be linked. Exiting.\n");
    return -1;
  }
#else
  if (!gst_element_link_many (streammux, pgie, nvtracker, sgie1,
      sgie2, sgie3, nvvidconv, nvosd, sink, NULL)) {
    g_printerr ("Elements could not be linked. Exiting.\n");
    return -1;
  }
#endif

  /* 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. */
  osd_sink_pad = gst_element_get_static_pad (nvtracker, "src");
  if (!osd_sink_pad)
    g_print ("Unable to get sink pad\n");
  else
    gst_pad_add_probe (osd_sink_pad, GST_PAD_PROBE_TYPE_BUFFER,
        osd_sink_pad_buffer_probe, NULL, NULL);

  /* Set the pipeline to "playing" state */
  g_print ("Now playing: %s\n", argv[1]);
  gst_element_set_state (pipeline, GST_STATE_PLAYING);
  GST_DEBUG_BIN_TO_DOT_FILE_WITH_TS (GST_BIN (pipeline), GST_DEBUG_GRAPH_SHOW_ALL,
                "test2-app-playing");

  /* Iterate */
  g_print ("Running...\n");
  g_main_loop_run (loop);

  /* Out of the main loop, clean up nicely */
  g_print ("Returned, stopping playback\n");
  gst_element_set_state (pipeline, GST_STATE_NULL);
  g_print ("Deleting pipeline\n");
  gst_object_unref (GST_OBJECT (pipeline));
  g_source_remove (bus_watch_id);
  g_main_loop_unref (loop);
  return 0;
}