DeepStream Can Orientation App

The deepstream-can-orientation-app sample application is provided at app/sample_apps/deepstream-can-orientation-app for your reference. This example demonstrates can orientation detection for industrial can position and rotation angles. There are several configurations for raw data input, JPEG input and Basler camera emulation input settings. The image below shows the architecture of this reference app.

DeepStream VPI Can Orientation Application Architecture

Getting Started

Prerequisites

Go to the folder sources/apps/sample_apps/deepstream-can-orientation-app
Prepare all test sample images and reference images. Run the following command to un-compress can test and reference images into folder data, and generate raw sample image data files. Run command

$ ./prepare_sample_data.sh

If there is file permission issues, try with sudo.

Export DISPLAY environment to correct display. e.g. export DISPLAY=:0.0.
For Basler camera emulation test, follow instructions in deepstream-can-orientation-app/README to install and build all dependencies. This emulation does not require a physical Basler camera.
Users can modify and configure their Basler cameras through Pylon Viewer to create new PFS and then use it in this app.

Run DeepStream Can Orientation Examples

Run tests for JPEG files with EGL display:

$ deepstream-can-orientation-app -c ds_can_orientation_jpg.yaml

Run tests for GREY raw datafile with EGL display:

$  deepstream-can-orientation-app -c ds_can_orientation_raw.yaml -r data/test_samples_raw.grey

Run tests for performance tests without display. Update ds_can_orientation_raw.yaml.

sink:
   egl_display: false
   sync: false
 debug:
   print_result: false

Run performance tests:

$ deepstream-can-orientation-app -c ds_can_orientation_raw.yaml -r data/test_samples_raw.grey -l

Run Basler Camera Emulation tests:

$ deepstream-can-orientation-app -c ds_can_orientation_basler_cam.yaml

DeepStream Can Orientation App Configuration Specifications

deepstream-can-orientation-app settings

The table below indicates the group settings for ds_can_orientation_jpg.yaml and ds_can_orientation_raw.yaml.

deepstream can orientation application settings

Group	Property	Meaning	Type and Range	Example
source		source settings	YAML node
source	uri	decodebin uri	string	uri: multifile:///opt/nvidia/deepstream/deepstream/sources/apps/sample_apps/deepstream-can-orientation-app/data/sample1/test_sample_%2504d.jpg
source	framerate	framerate for multifile source and raw format data source	string	framerate: 10/1
source	frame_settings	Raw frame setting description	YAML node	frame_settings: format: GREY width: 870 height: 1200
source.frame_settings	format	color format, choose from [GREY, RGBA]	String: [GREY, RGBA]	format: GREY
source.frame_settings	width	width of input raw frame	Integer: >0	width: 870
source.frame_settings	height	height of input raw frame	Integer: >0	height: 1200
source	camera	Basler camera settings	YAML node	camera: device_serial_number: 0815-0000 pfs_path: basler_cam_emulation_0815-0000.pfs width: 870 height: 1200
source.camera	device_serial_number	Basler camera serial number	String	device_serial_number: 0815-0000
source.camera	pfs_path	Basler PFS setting file path	String	pfs_path: basler_cam_emulation_0815-0000.pfs
source.camera	width	Basler camera capture image width	Integer: >0	width: 870
source.camera	height	Basler camera capture image height	Integer: >0	height: 1200
video_template		deepstream video template plugin settings	YAML node
video_template	customlib_name	Indicate custom-lib location for video template to load	String	customlib_name: /opt/nvidia/deepstream/deepstream/lib/libnvds_vpicanmatch.so
video_template	customlib_props	Indicate the configuration settings for the custom-lib	String	customlib_props: config-file:config_video_template_can_match.yaml
sink		sink settings	YAML node	sink: egl_display: true
sink	egl_display	Indicate whether enable EGL display	bool	egl_display: true
sink	sync	Indicate whether do snchronization on timestamp	bool	sync: true
debug		debug settings	YAML node
debug	print_result	Indicate whether print orientation result	bool	print_result: true

Custom lib libnvds_vpicanmatch.so Settings for Can Template Matching

Custom lib `libnvds_vpicanmatch.so` Settings for Can Template Matching

The table below indicates the group settings for config_video_template_can_match.yaml.

deepstream can orientation application settings

Property	Meaning	Type and Range	Example
radius	Indicate radius of the can, unit in cm	Float	radius: 3.3
distance	Indicate distance from camera to can, unit in cm	Float	distance: 12.7
center	Indicate center of the can in input raw image normalized by width	Float	center: 0.5
can_width	Indicate width of the can in input raw image normalized by width	Float	can_width: 1.0
input_width	Indicate width of input raw image, It should be the input image width	Uint32	input_width: 870
input_height	Indicate height of input raw image, It should be the input image height	Uint32	input_height: 1200
crop_width	Indicate width of dewarped inference image to be used to match with reference image	Uint32	crop_width: 500
target_x	Indicate target center in reference image in pixels	Uint32	target_x: 250
ref_image	Specify reference image parameters	YAML node
ref_image.perimeter	Indicate can circumference in reference image in pixels	Uint32	ref_image: perimeter: 1689
ref_image.image_path	Indicate reference image path, must be in color format GREY		ref_image: image_path: data/reference_sample.grey
ref_image.image_format	Indicate reference image color format, only GREY supported in this version	String: fourcc	ref_image: image_format: GREY
ref_image.image_width	Indicate reference image width	Uint32	ref_image: image_width: 2508
ref_image.image_height	Indicate reference image height	Uint32	ref_image: image_height: 625

Build application From Source

Go to the folder sources/apps/sample_apps/deepstream-can-orientation-app.
Run the following commands:

$ make
$ make install