def GetMediaStreamMessageResponse(self, boxes, scores, indices, imgShape, confidenceThreshold=0.1):
try:
msg = extension_pb2.MediaStreamMessage()
ih, iw, _ = imgShape
for idx in indices[0]:
confidenceScore = scores[tuple(idx)].tolist()
if confidenceScore >= confidenceThreshold:
objectLabel = self._tYoloV3._labelList[idx[1].tolist()]
idxTuple = (idx[0], idx[2])
ymin, xmin, ymax, xmax = boxes[idxTuple].tolist()
inference = msg.media_sample.inferences.add()
inference.type = inferencing_pb2.Inference.InferenceType.ENTITY
inference.entity.CopyFrom( inferencing_pb2.Entity(
tag = inferencing_pb2.Tag(
value = objectLabel,
confidence = confidenceScore
),
box = inferencing_pb2.Rectangle(
l = xmin / iw,
t = ymin / ih,
w = (xmax - xmin) / iw,
h = (ymax - ymin) / ih,
)
)
)
return msg
except:
PrintGetExceptionDetails()
raise
def GetMediaStreamMessageResponse(self, predictions, imgShape, confidenceThreshold=0.1):
try:
msg = extension_pb2.MediaStreamMessage()
ih, iw, _ = imgShape
for prediction in predictions:
confidenceScore = prediction['probability']
if confidenceScore >= confidenceThreshold:
objectLabel = prediction['tagName']
inference = msg.media_sample.inferences.add()
inference.type = inferencing_pb2.Inference.InferenceType.ENTITY
inference.entity.CopyFrom(inferencing_pb2.Entity(
tag=inferencing_pb2.Tag(
value=objectLabel,
confidence=confidenceScore
),
box=inferencing_pb2.Rectangle(
l=prediction['boundingBox']['left'],
t=prediction['boundingBox']['top'],
w=prediction['boundingBox']['width'],
h=prediction['boundingBox']['height'],
)
)
)
return msg
except:
PrintGetExceptionDetails()
raise
def GetMediaStreamMessageResponse(self, bboxes, originalImageSize):
try:
msg = extension_pb2.MediaStreamMessage()
ih, iw = originalImageSize
for i, bbox in enumerate(bboxes):
confidenceScore = bbox[4].tolist()
objectLabel = self._YoloV4._labelList[int(bbox[5])]
xmin, ymin, xmax, ymax = np.array(bbox[:4], dtype=np.int32)
inference = msg.media_sample.inferences.add()
inference.type = inferencing_pb2.Inference.InferenceType.ENTITY
inference.entity.CopyFrom(
inferencing_pb2.Entity(tag=inferencing_pb2.Tag(
value=objectLabel, confidence=confidenceScore),
box=inferencing_pb2.Rectangle(
l=xmin / iw,
t=ymin / ih,
w=(xmax - xmin) / iw,
h=(ymax - ymin) / ih,
)))
return msg
except:
PrintGetExceptionDetails()
raise
def GetDummyMediaStreamMessageResponse(self, dummyValue):
try:
ih = 480
iw = 640
msg = extension_pb2.MediaStreamMessage()
inference = msg.media_sample.inferences.add()
inference.type = inferencing_pb2.Inference.InferenceType.ENTITY
inference.entity.CopyFrom(
inferencing_pb2.Entity(tag=inferencing_pb2.Tag(
value=dummyValue, confidence=0.0),
box=inferencing_pb2.Rectangle(l=0,
t=0,
w=iw,
h=ih)))
return msg
except:
PrintGetExceptionDetails()
raise
def ProcessMediaStream(self, requestIterator, context):
# Below logic can be extended into multi-process (per CPU cores, i.e. in case using CPU inferencing)
# For simplicity below, we use single process to handle gRPC clients
# Auto increment counter. Increases per client requests
responseSeqNum = 1
# First message from the client is (must be) MediaStreamDescriptor
mediaStreamMessageRequest = next(requestIterator)
# Extract message IDs
requestSeqNum = mediaStreamMessageRequest.sequence_number
requestAckSeqNum = mediaStreamMessageRequest.ack_sequence_number
# State object per client
clientState = State(mediaStreamMessageRequest.media_stream_descriptor)
logging.info('Connection created with peer {0}.\nMediaStreamDescriptor:\n{1}'.format(context.peer(), clientState._mediaStreamDescriptor))
logging.debug('[Received] SeqNum: {0:07d} | AckNum: {1}'.format(requestSeqNum, requestAckSeqNum))
# First message response ...
mediaStreamMessage = extension_pb2.MediaStreamMessage(
sequence_number = responseSeqNum,
ack_sequence_number = requestSeqNum,
media_stream_descriptor = extension_pb2.MediaStreamDescriptor(
media_descriptor = media_pb2.MediaDescriptor(
timescale = clientState._mediaStreamDescriptor.media_descriptor.timescale
)
)
)
yield mediaStreamMessage
# Process rest of the MediaStream message sequence
for mediaStreamMessageRequest in requestIterator:
try:
# Increment response counter, will be sent to client
responseSeqNum += 1
# Read request id, sent by client
requestSeqNum = mediaStreamMessageRequest.sequence_number
logging.debug('[Received] SeqNum: {0:07d}'.format(requestSeqNum))
# Get media content bytes. (bytes sent over shared memory buffer, segment or inline to message)
cvImage = self.GetCvImageFromRawBytes(clientState, mediaStreamMessageRequest.media_sample)
if cvImage is None:
message = "Can't decode received bytes."
logging.info(message)
context.set_details(message)
context.set_code(grpc.StatusCode.INVALID_ARGUMENT)
return
if list(cvImage.shape[:2]) != self._tYoloV3.image_shape:
message = "Received an image of size {0}, but expected one of size {1}".format(cvImage.shape[:2], self._tYoloV3.image_shape)
context.set_details(message)
logging.info(message)
context.set_code(grpc.StatusCode.INVALID_ARGUMENT)
return
mediaStreamMessage = extension_pb2.MediaStreamMessage()
# Check confidence
allConfidenceReached = True
for inference in mediaStreamMessageRequest.media_sample.inferences:
confidence = inference.entity.tag.confidence
if(confidence < self.inferenceConfidence):
allConfidenceReached = False
break
if(len(mediaStreamMessageRequest.media_sample.inferences) > 0 and allConfidenceReached):
# Return acknowledge message
mediaStreamMessage.sequence_number = responseSeqNum
mediaStreamMessage.ack_sequence_number = requestSeqNum
mediaStreamMessage.media_sample.timestamp = mediaStreamMessageRequest.media_sample.timestamp
for tinyYoloInference in mediaStreamMessageRequest.media_sample.inferences:
objectLabel = tinyYoloInference.entity.tag.value
if(self.objectTag is None):
self.objectTag = objectLabel
if(self.objectTag == objectLabel):
inference = mediaStreamMessage.media_sample.inferences.add()
inference.type = inferencing_pb2.Inference.InferenceType.ENTITY
inference.subtype = 'From upstream'
inference.entity.CopyFrom(inferencing_pb2.Entity(
tag = inferencing_pb2.Tag(
value = objectLabel,
confidence = tinyYoloInference.entity.tag.confidence
),
box = inferencing_pb2.Rectangle(
l = tinyYoloInference.entity.box.l,
t = tinyYoloInference.entity.box.t,
w = tinyYoloInference.entity.box.w,
h = tinyYoloInference.entity.box.h,
)
)
)
else:
# run inference
boxes, scores, indices = self._tYoloV3.Score(cvImage)
logging.debug('Detected {0} inferences'.format(len(indices)))
if DEBUG is not None:
self.CreateDebugOutput(requestSeqNum, cvImage, boxes, scores, indices)
# return inference result as MediaStreamMessage
mediaStreamMessage = self.GetMediaStreamMessageResponse(mediaStreamMessage, boxes, scores, indices, cvImage.shape, mediaStreamMessageRequest.media_sample.timestamp)
mediaStreamMessage.sequence_number = responseSeqNum
mediaStreamMessage.ack_sequence_number = requestSeqNum
mediaStreamMessage.media_sample.timestamp = mediaStreamMessageRequest.media_sample.timestamp
# Check client connection state
if context.is_active():
# yield response
yield mediaStreamMessage
else:
break
except:
PrintGetExceptionDetails()
logging.info('Connection closed with peer {0}.'.format(context.peer()))
def get_lva_MediaStreamMessage(self, buffer, gst_lva_message, ih, iw):
msg = extension_pb2.MediaStreamMessage()
msg.ack_sequence_number = gst_lva_message.sequence_number
msg.media_sample.timestamp = gst_lva_message.timestamp
# # 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(buffer))
frame = batch_meta.frame_meta_list
while frame is not None:
try:
# Note that 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(frame.data)
objInference = frame_meta.obj_meta_list
frameWidth = frame_meta.source_frame_width
frameHeight = frame_meta.source_frame_height
inference = msg.media_sample.inferences.add()
attributes = []
obj_label = None
obj_confidence = 0
obj_left = 0
obj_width = 0
obj_top = 0
obj_width = 0
# iterate through objects
while objInference is not None:
try:
# Casting objInference.data to pyds.NvDsObjectMeta
obj_meta = pyds.NvDsObjectMeta.cast(objInference.data)
except StopIteration:
break
rect_params = obj_meta.rect_params
top = int(rect_params.top)
left = int(rect_params.left)
width = int(rect_params.width)
height = int(rect_params.height)
obj_confidence = obj_meta.confidence
objLabel = obj_meta.obj_label
obj_label = objLabel
obj_left = left / iw
obj_top = top / ih
obj_width = width / iw
obj_height = height / ih
inference.type = inferencing_pb2.Inference.InferenceType.ENTITY
try:
objInference = objInference.next
except StopIteration:
break
if obj_label is not None:
try:
entity = inferencing_pb2.Entity(
tag=inferencing_pb2.Tag(value=obj_label,
confidence=obj_confidence),
box=inferencing_pb2.Rectangle(l=obj_left,
t=obj_top,
w=obj_width,
h=obj_height))
for attr in attributes:
attribute = inferencing_pb2.Attribute(
name=attr[0],
value=attr[1],
confidence=attr[2])
entity.attributes.append(attribute)
except:
PrintGetExceptionDetails()
inference.entity.CopyFrom(entity)
except StopIteration:
break
try:
frame = frame.next
except StopIteration:
break
return msg
def get_lva_MediaStreamMessage(self, buffer, gst_lva_message, ih, iw): msg = extension_pb2.MediaStreamMessage() msg.ack_sequence_number = gst_lva_message.sequence_number msg.media_sample.timestamp = gst_lva_message.timestamp # # 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(buffer)) frame = batch_meta.frame_meta_list while frame is not None: try: # Note that 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(frame.data) objInference = frame_meta.obj_meta_list frameWidth = frame_meta.source_frame_width frameHeight = frame_meta.source_frame_height # iterate through objects while objInference is not None: try: # Casting objInference.data to pyds.NvDsObjectMeta obj_meta=pyds.NvDsObjectMeta.cast(objInference.data) except StopIteration: break inference = msg.media_sample.inferences.add() attributes = [] obj_label = None obj_confidence = 0 obj_left = 0 obj_width = 0 obj_top = 0 obj_width = 0 color = '' # Classification attribute = None if(obj_meta.class_id == 0 and obj_meta.classifier_meta_list is not None): classifier_meta = obj_meta.classifier_meta_list while classifier_meta is not None: classifierItem = pyds.NvDsClassifierMeta.cast(classifier_meta.data) if(classifierItem is not None): label_meta = classifierItem.label_info_list while label_meta is not None: labelItem = pyds.NvDsLabelInfo.cast(label_meta.data) prob = round(labelItem.result_prob, 2) attrValue = labelItem.result_label attrName = 'unknown' if(classifierItem.unique_component_id == PGIE_CLASS_ID_VEHICLE_COLOR): attrName = 'color' else: attrName = 'type' attributes.append([attrName, attrValue, prob]) try: label_meta=label_meta.next except StopIteration: break try: classifier_meta=classifier_meta.next except StopIteration: break rect_params=obj_meta.rect_params top=int(rect_params.top) left=int(rect_params.left) width=int(rect_params.width) height=int(rect_params.height) obj_confidence = obj_meta.confidence obj_label = obj_meta.obj_label obj_left = left / iw obj_top = top / ih obj_width = width/ iw obj_height = height / ih obj_id = None # Tracking: Active tracking bbox information if(self.trackinEnabled): obj_id = obj_meta.object_id obj_active_tracking = obj_meta.tracker_bbox_info tracking_coord = obj_active_tracking.org_bbox_coords if(tracking_coord is not None and tracking_coord.left > 0 and tracking_coord.width > 0 and tracking_coord.top > 0 and tracking_coord.height > 0): obj_left = tracking_coord.left / iw obj_top = tracking_coord.top / ih obj_width = tracking_coord.width/ iw obj_height = tracking_coord.height / ih inference.type = inferencing_pb2.Inference.InferenceType.ENTITY if obj_label is not None: try: entity = inferencing_pb2.Entity( tag = inferencing_pb2.Tag( value = obj_label, confidence = obj_confidence ), box = inferencing_pb2.Rectangle( l = obj_left, t = obj_top, w = obj_width, h = obj_height ) ) if(self.trackinEnabled and obj_id is not None): entity.id = str(obj_id) for attr in attributes: attribute = inferencing_pb2.Attribute( name = attr[0], value = attr[1], confidence = attr[2] ) entity.attributes.append(attribute) except: PrintGetExceptionDetails() inference.entity.CopyFrom(entity) try: objInference=objInference.next except StopIteration: break except StopIteration: break try: frame = frame.next except StopIteration: break return msg
