Initial commit

2026-03-06 09:43:52 +07:00
commit 549fd1da9d
250 changed files with 9114 additions and 0 deletions
--- a/jetson/stream_with_detection.py
+++ b/jetson/stream_with_detection.py
@@ -0,0 +1,140 @@
+#!/usr/bin/env python3
+"""
+RTSP stream with YOLOv8 ball detection.
+Pushes to mediamtx RTSP server using ffmpeg.
+
+Usage:
+  1. Start mediamtx: /tmp/mediamtx &
+  2. Run this script: python3 stream_with_detection.py [source]
+  3. View stream: vlc rtsp://pickle:8554/live
+"""
+
+import cv2
+import subprocess
+import time
+import sys
+from ultralytics import YOLO
+
+BALL_CLASS_ID = 32  # sports ball in COCO
+WIDTH = 1280
+HEIGHT = 720
+FPS = 15  # Lower FPS for stable streaming
+RTSP_URL = "rtsp://localhost:8554/live"
+
+
+def main():
+    source = sys.argv[1] if len(sys.argv) > 1 else "/opt/nvidia/deepstream/deepstream/samples/streams/sample_1080p_h264.mp4"
+
+    print("Loading YOLOv8n...")
+    model = YOLO("yolov8n.pt")
+    try:
+        model.to("cuda")
+        print("Using CUDA")
+    except:
+        print("Using CPU")
+
+    print(f"Opening: {source}")
+    cap = cv2.VideoCapture(source)
+    if not cap.isOpened():
+        print("ERROR: Cannot open source")
+        return 1
+
+    # FFmpeg command to push RTSP
+    ffmpeg_cmd = [
+        'ffmpeg',
+        '-y',
+        '-f', 'rawvideo',
+        '-vcodec', 'rawvideo',
+        '-pix_fmt', 'bgr24',
+        '-s', f'{WIDTH}x{HEIGHT}',
+        '-r', str(FPS),
+        '-i', '-',
+        '-c:v', 'libx264',
+        '-preset', 'ultrafast',
+        '-tune', 'zerolatency',
+        '-g', str(FPS * 2),
+        '-f', 'rtsp',
+        '-rtsp_transport', 'tcp',
+        RTSP_URL
+    ]
+
+    print("Starting ffmpeg RTSP publisher...")
+    ffmpeg = subprocess.Popen(
+        ffmpeg_cmd,
+        stdin=subprocess.PIPE,
+        stdout=subprocess.DEVNULL,
+        stderr=subprocess.DEVNULL
+    )
+
+    print(f"\n{'='*50}")
+    print(f"RTSP STREAM: rtsp://pickle:8554/live")
+    print(f"{'='*50}")
+    print("Press Ctrl+C to stop\n")
+
+    frame_count = 0
+    start = time.time()
+    total_detections = 0
+    frame_time = 1.0 / FPS
+
+    try:
+        while True:
+            loop_start = time.time()
+
+            ret, frame = cap.read()
+            if not ret:
+                cap.set(cv2.CAP_PROP_POS_FRAMES, 0)
+                continue
+
+            frame = cv2.resize(frame, (WIDTH, HEIGHT))
+
+            # Detection
+            results = model(frame, verbose=False, classes=[BALL_CLASS_ID], conf=0.25)
+            det_count = 0
+            for r in results:
+                for box in r.boxes:
+                    x1, y1, x2, y2 = map(int, box.xyxy[0])
+                    conf = float(box.conf[0])
+                    cv2.rectangle(frame, (x1, y1), (x2, y2), (0, 255, 0), 3)
+                    cv2.putText(frame, f"Ball {conf:.2f}", (x1, y1-10),
+                               cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 255, 0), 2)
+                    det_count += 1
+                    total_detections += 1
+
+            # FPS overlay
+            frame_count += 1
+            elapsed = time.time() - start
+            fps = frame_count / elapsed
+            cv2.putText(frame, f"FPS: {fps:.1f} | Det: {det_count}", (10, 30),
+                       cv2.FONT_HERSHEY_SIMPLEX, 0.8, (0, 255, 255), 2)
+
+            # Push to ffmpeg
+            try:
+                ffmpeg.stdin.write(frame.tobytes())
+            except BrokenPipeError:
+                print("FFmpeg pipe broken, restarting...")
+                break
+
+            if frame_count % 100 == 0:
+                print(f"Frame {frame_count}, FPS: {fps:.1f}, Total Det: {total_detections}")
+
+            # Rate limiting
+            proc_time = time.time() - loop_start
+            if proc_time < frame_time:
+                time.sleep(frame_time - proc_time)
+
+    except KeyboardInterrupt:
+        print("\nStopping...")
+    finally:
+        elapsed = time.time() - start
+        print(f"\nProcessed {frame_count} frames in {elapsed:.1f}s")
+        print(f"Average FPS: {frame_count/elapsed:.1f}")
+        print(f"Total detections: {total_detections}")
+        cap.release()
+        ffmpeg.stdin.close()
+        ffmpeg.wait()
+
+    return 0
+
+
+if __name__ == "__main__":
+    sys.exit(main())