Préparation du Jetson nano

$ sudo apt install hdparm

$ sudo hdparm -t --direct /dev/sda
/dev/sda:
Timing O_DIRECT disk reads: 1004 MB in 3.00 seconds = 334.15 MB/sec

lefv2603@lefv2603-desktop:~$ sudo hdparm -t --direct /dev/mmcblk0p1

/dev/mmcblk0p1:
 Timing O_DIRECT disk reads: 122 MB in  3.03 seconds =  40.22 MB/sec

lefv2603@lefv2603-jetsonnano:~$ sudo hdparm -t --direct /dev/mmcblk0p1

/dev/mmcblk0p1:
 Timing O_DIRECT disk reads: 256 MB in  3.02 seconds =  84.71 MB/sec

lefv2603@lefv2603-jetsonnano:~$ sudo hdparm -t --direct /dev/sda1

/dev/sda1:
 Timing O_DIRECT disk reads:  92 MB in  3.01 seconds =  30.54 MB/sec

$ cd jetson-inference/build
$ ./install-pytorch.sh

torch-1.1.0-cp36-cp 100%[===================>] 202.36M  3.81MB/s    in 53s     
Processing ./torch-1.1.0-cp36-cp36m-linux_aarch64.whl
Collecting numpy (from torch==1.1.0)
  Downloading https://files.pythonhosted.org/packages/84/1e/ff467ac56bfeaea51d4a2e72d315c1fe440b20192fea7e460f0f248acac8/numpy-1.18.2.zip (5.4MB)
Building wheels for collected packages: numpy
  Running setup.py bdist_wheel for numpy: started
  Running setup.py bdist_wheel for numpy: finished with status 'error'
  Complete output from command /usr/bin/python3 -u -c "import setuptools, tokenize;__file__='/tmp/pip-build-j1wx480_/numpy/setup.py';f=getattr(tokenize, 'open', open)(__file__);code=f.read().replace('\r\n', '\n');f.close();exec(compile(code, __file__, 'exec'))" bdist_wheel -d /tmp/tmp2natmwmypip-wheel- --python-tag cp36:
  Running from numpy source directory.
  Cythonizing sources
  Processing numpy/random/_bounded_integers.pxd.in
  Processing numpy/random/_bounded_integers.pyx.in
  Traceback (most recent call last):
    File "/tmp/pip-build-j1wx480_/numpy/tools/cythonize.py", line 61, in process_pyx
      from Cython.Compiler.Version import version as cython_version
  ModuleNotFoundError: No module named 'Cython'
  
  During handling of the above exception, another exception occurred:
  
  Traceback (most recent call last):
    File "/tmp/pip-build-j1wx480_/numpy/tools/cythonize.py", line 238, in <module>
      main()
    File "/tmp/pip-build-j1wx480_/numpy/tools/cythonize.py", line 234, in main
      find_process_files(root_dir)
    File "/tmp/pip-build-j1wx480_/numpy/tools/cythonize.py", line 225, in find_process_files
      process(root_dir, fromfile, tofile, function, hash_db)
    File "/tmp/pip-build-j1wx480_/numpy/tools/cythonize.py", line 191, in process
      processor_function(fromfile, tofile)
    File "/tmp/pip-build-j1wx480_/numpy/tools/cythonize.py", line 94, in process_tempita_pyx
      process_pyx(pyxfile, tofile)
    File "/tmp/pip-build-j1wx480_/numpy/tools/cythonize.py", line 66, in process_pyx
      raise OSError('Cython needs to be installed in Python as a module')
  OSError: Cython needs to be installed in Python as a module
  Traceback (most recent call last):
    File "<string>", line 1, in <module>
    File "/tmp/pip-build-j1wx480_/numpy/setup.py", line 488, in <module>
      setup_package()
    File "/tmp/pip-build-j1wx480_/numpy/setup.py", line 469, in setup_package
      generate_cython()
    File "/tmp/pip-build-j1wx480_/numpy/setup.py", line 275, in generate_cython
      raise RuntimeError("Running cythonize failed!")
  RuntimeError: Running cythonize failed!
  
  ----------------------------------------
  Failed building wheel for numpy
  Running setup.py clean for numpy
  Complete output from command /usr/bin/python3 -u -c "import setuptools, tokenize;__file__='/tmp/pip-build-j1wx480_/numpy/setup.py';f=getattr(tokenize, 'open', open)(__file__);code=f.read().replace('\r\n', '\n');f.close();exec(compile(code, __file__, 'exec'))" clean --all:
  Running from numpy source directory.
  
  `setup.py clean` is not supported, use one of the following instead:
  
    - `git clean -xdf` (cleans all files)
    - `git clean -Xdf` (cleans all versioned files, doesn't touch
                        files that aren't checked into the git repo)
  
  Add `--force` to your command to use it anyway if you must (unsupported).
  
  
  ----------------------------------------
  Failed cleaning build dir for numpy
Failed to build numpy
Installing collected packages: numpy, torch
  Running setup.py install for numpy: started
    Running setup.py install for numpy: finished with status 'error'
    Complete output from command /usr/bin/python3 -u -c "import setuptools, tokenize;__file__='/tmp/pip-build-j1wx480_/numpy/setup.py';f=getattr(tokenize, 'open', open)(__file__);code=f.read().replace('\r\n', '\n');f.close();exec(compile(code, __file__, 'exec'))" install --record /tmp/pip-irgyg31t-record/install-record.txt --single-version-externally-managed --compile --user --prefix=:
    Running from numpy source directory.
    
    Note: if you need reliable uninstall behavior, then install
    with pip instead of using `setup.py install`:
    
      - `pip install .`       (from a git repo or downloaded source
                               release)
      - `pip install numpy`   (last NumPy release on PyPi)
    
    
    Cythonizing sources
    numpy/random/_bounded_integers.pxd.in has not changed
    Processing numpy/random/_bounded_integers.pyx
    Traceback (most recent call last):
      File "/tmp/pip-build-j1wx480_/numpy/tools/cythonize.py", line 61, in process_pyx
        from Cython.Compiler.Version import version as cython_version
    ModuleNotFoundError: No module named 'Cython'
    
    During handling of the above exception, another exception occurred:
    
    Traceback (most recent call last):
      File "/tmp/pip-build-j1wx480_/numpy/tools/cythonize.py", line 238, in <module>
        main()
      File "/tmp/pip-build-j1wx480_/numpy/tools/cythonize.py", line 234, in main
        find_process_files(root_dir)
      File "/tmp/pip-build-j1wx480_/numpy/tools/cythonize.py", line 225, in find_process_files
        process(root_dir, fromfile, tofile, function, hash_db)
      File "/tmp/pip-build-j1wx480_/numpy/tools/cythonize.py", line 191, in process
        processor_function(fromfile, tofile)
      File "/tmp/pip-build-j1wx480_/numpy/tools/cythonize.py", line 66, in process_pyx
        raise OSError('Cython needs to be installed in Python as a module')
    OSError: Cython needs to be installed in Python as a module
    Traceback (most recent call last):
      File "<string>", line 1, in <module>
      File "/tmp/pip-build-j1wx480_/numpy/setup.py", line 488, in <module>
        setup_package()
      File "/tmp/pip-build-j1wx480_/numpy/setup.py", line 469, in setup_package
        generate_cython()
      File "/tmp/pip-build-j1wx480_/numpy/setup.py", line 275, in generate_cython
        raise RuntimeError("Running cythonize failed!")
    RuntimeError: Running cythonize failed!
    
    ----------------------------------------
Command "/usr/bin/python3 -u -c "import setuptools, tokenize;__file__='/tmp/pip-build-j1wx480_/numpy/setup.py';f=getattr(tokenize, 'open', open)(__file__);code=f.read().replace('\r\n', '\n');f.close();exec(compile(code, __file__, 'exec'))" install --record /tmp/pip-irgyg31t-record/install-record.txt --single-version-externally-managed --compile --user --prefix=" failed with error code 1 in /tmp/pip-build-j1wx480_/numpy/
[jetson-inference]  failed to install torch-1.1.0-cp36-cp36m-linux_aarch64.whl
[jetson-inference]     -- command:     pip3 install torch-1.1.0-cp36-cp36m-linux_aarch64.whl
[jetson-inference]     -- error code:  1
[jetson-inference]  failed to install PyTorch v1.1.0 (Python 3.6)
 
[jetson-inference]  installation complete, exiting with status code 0
[jetson-inference]  to run this tool again, use the following commands:
 
    $ cd <jetson-inference>/build
    $ ./install-pytorch.sh
 
[Pre-build]  Finished CMakePreBuild script
-- Finished installing dependencies

cd jetson-inference/build
make
make -j$(nproc)
sudo make install
sudo ldconfig

sudo apt install python3-pip

sudo apt-get install dconf-tools

$ cd ~/projects/dusty-nv/jetson-inference
$ cd ./build/aarch64/bin
$ ./segnet-console --network=fcn-resnet18-deepscene --visualize=mask --alpha=10000 images/city_0.jpg output.jpg

[TRT]   ------------------------------------------------
[TRT]   Timing Report networks/FCN-ResNet18-Cityscapes-512x256/fcn_resnet18.onnx
[TRT]   ------------------------------------------------
[TRT]   Pre-Process   CPU   2.78468ms  CUDA   3.04458ms
[TRT]   Network       CPU  59.17971ms  CUDA  58.76735ms
[TRT]   Post-Process  CPU   1.05956ms  CUDA   1.05630ms
[TRT]   Total         CPU  63.02396ms  CUDA  62.86823ms
[TRT]   ------------------------------------------------

[TRT]   ------------------------------------------------
[TRT]   Timing Report networks/FCN-ResNet18-Cityscapes-512x256/fcn_resnet18.onnx
[TRT]   ------------------------------------------------
[TRT]   Pre-Process   CPU   0.08807ms  CUDA   0.61323ms
[TRT]   Network       CPU  28.77813ms  CUDA  28.67969ms
[TRT]   Post-Process  CPU   0.63754ms  CUDA   0.20552ms
[TRT]   Total         CPU  29.50374ms  CUDA  29.49844ms
[TRT]   ------------------------------------------------

$ gst-launch-1.0 nvarguscamerasrc ! 'video/x-raw(memory:NVMM),width=3820, height=2464, framerate=21/1, format=NV12' ! nvvidconv flip-method=0 ! 'video/x-raw,width=960, height=616' ! nvvidconv ! nvegltransform ! nveglglessink -e

$ sudo apt-get install v4l-utils

$ v4l2-ctl --list-formats-ext
ioctl: VIDIOC_ENUM_FMT
	Index       : 0
	Type        : Video Capture
	Pixel Format: 'RG10'
	Name        : 10-bit Bayer RGRG/GBGB
		Size: Discrete 3264x2464
			Interval: Discrete 0.048s (21.000 fps)
		Size: Discrete 3264x1848
			Interval: Discrete 0.036s (28.000 fps)
		Size: Discrete 1920x1080
			Interval: Discrete 0.033s (30.000 fps)
		Size: Discrete 1280x720
			Interval: Discrete 0.017s (60.000 fps)
		Size: Discrete 1280x720
			Interval: Discrete 0.017s (60.000 fps)

$ gst-launch-1.0 nvarguscamerasrc ! 'video/x-raw(memory:NVMM),width=1280, height=720, framerate=60/1, format=NV12' ! nvvidconv flip-method=0 ! 'video/x-raw,width=960, height=616' ! nvvidconv ! nvegltransform ! nveglglessink -e

$ v4l2-ctl -d 0 --all 
Driver Info (not using libv4l2):
	Driver name   : tegra-video
	Card type     : vi-output, imx219 6-0010
	Bus info      : platform:54080000.vi:0
	Driver version: 4.9.140
	Capabilities  : 0x84200001
		Video Capture
		Streaming
		Extended Pix Format
		Device Capabilities
	Device Caps   : 0x04200001
		Video Capture
		Streaming
		Extended Pix Format
Priority: 2
Video input : 0 (Camera 0: no power)
Format Video Capture:
	Width/Height      : 3264/2464
	Pixel Format      : 'RG10'
	Field             : None
	Bytes per Line    : 6528
	Size Image        : 16084992
	Colorspace        : sRGB
	Transfer Function : Default (maps to sRGB)
	YCbCr/HSV Encoding: Default (maps to ITU-R 601)
	Quantization      : Default (maps to Full Range)
	Flags             : 

Camera Controls

                     group_hold 0x009a2003 (bool)   : default=0 value=0 flags=execute-on-write
                    sensor_mode 0x009a2008 (int64)  : min=0 max=0 step=0 default=0 value=0 flags=slider
                           gain 0x009a2009 (int64)  : min=0 max=0 step=0 default=0 value=16 flags=slider
                       exposure 0x009a200a (int64)  : min=0 max=0 step=0 default=0 value=13 flags=slider
                     frame_rate 0x009a200b (int64)  : min=0 max=0 step=0 default=0 value=2000000 flags=slider
                    bypass_mode 0x009a2064 (intmenu): min=0 max=1 default=0 value=0
                override_enable 0x009a2065 (intmenu): min=0 max=1 default=0 value=0
                   height_align 0x009a2066 (int)    : min=1 max=16 step=1 default=1 value=1
                     size_align 0x009a2067 (intmenu): min=0 max=2 default=0 value=0
               write_isp_format 0x009a2068 (bool)   : default=0 value=0
       sensor_signal_properties 0x009a2069 (u32)    : min=0 max=0 step=0 default=0 flags=read-only, has-payload
        sensor_image_properties 0x009a206a (u32)    : min=0 max=0 step=0 default=0 flags=read-only, has-payload
      sensor_control_properties 0x009a206b (u32)    : min=0 max=0 step=0 default=0 flags=read-only, has-payload
              sensor_dv_timings 0x009a206c (u32)    : min=0 max=0 step=0 default=0 flags=read-only, has-payload
               low_latency_mode 0x009a206d (bool)   : default=0 value=0
                   sensor_modes 0x009a2082 (int)    : min=0 max=30 step=1 default=30 value=5 flags=read-only

gst-launch-1.0 filesrc location=~/Downloads/1080p.mp4 ! decodebin ! queue ! videoconvert ! autovideosink

lefv2603@lefv2603-jetsonnano:~$ gst-launch-1.0 filesrc location=/media/3433-3732/DCIM/Camera/20200308_150708.mp4 ! decodebin ! queue ! nvvidconv flip-method=3 ! autovideosink

lefv2603@lefv2603-jetsonnano:~$ gst-launch-1.0 -v filesrc location=/media/3433-3732/DCIM/Camera/20200308_150708.mp4 ! qtdemux ! decodebin ! queue ! nvvidconv flip-method=3 ! videorate ! 'video/x-raw,framerate=1/5' ! nvjpegenc ! multifilesink location=file%d.jpg

$ cd ~/projects/dusty-nv/jetson-inference
$ cd ./build/aarch64/bin
$ ./segnet-camera.py --network=fcn-resnet18-mhp

/usr/src/linux-headers-4.9.140-tegra-ubuntu18.04_aarch64/kernel-4.9

$ ls -al /dev/video*
crw-rw----+ 1 root video 81, 0 Feb 15 16:58 /dev/video0
$ cd ~/projects
$ mkdir umlaeute
$ cd umlaeute
$ git clone https://github.com/umlaeute/v4l2loopback.git
$ cd v4l2loopback

$ make 
$ make && sudo make install
$ sudo depmod -a

$ sudo modprobe v4l2loopback max_buffers=8
$ ls -al /dev/video*
crw-rw----+ 1 root video 81, 0 Feb 15 16:58 /dev/video0
crw-rw----+ 1 root video 81, 3 Feb 16 14:36 /dev/video1
##### 

./projects/v4l2loopback/utils/v4l2loopback-ctl set-fps 60 /dev/video1

./projects/v4l2loopback/utils/v4l2loopback-ctl set-caps "video/x-raw,format=UYVY,width=640,height=480" /dev/video1
./projects/v4l2loopback/utils/v4l2loopback-ctl set-caps "video/x-raw,format=NV10,width=1280,height=720" /dev/video1
./projects/v4l2loopback/utils/v4l2loopback-ctl set-caps "video/x-raw,format=RGB,width=720,height=1280" /dev/video1

$ v4l2-ctl -d 1 --all 
Driver Info (not using libv4l2):
	Driver name   : v4l2 loopback
	Card type     : Dummy video device (0x0000)
	Bus info      : platform:v4l2loopback-000
	Driver version: 4.9.140
	Capabilities  : 0x85208003
		Video Capture
		Video Output
		Video Memory-to-Memory
		Read/Write
		Streaming
		Extended Pix Format
		Device Capabilities
	Device Caps   : 0x85208003
		Video Capture
		Video Output
		Video Memory-to-Memory
		Read/Write
		Streaming
		Extended Pix Format
		Device Capabilities
Priority: 0
Video input : 0 (loopback: ok)
Video output: 0 (loopback in)
Format Video Output:
	Width/Height      : 0/0
	Pixel Format      : 'BGR4'
	Field             : None
	Bytes per Line    : 0
	Size Image        : 0
	Colorspace        : sRGB
	Transfer Function : Default (maps to sRGB)
	YCbCr/HSV Encoding: Default (maps to ITU-R 601)
	Quantization      : Default (maps to Full Range)
	Flags             : 
Streaming Parameters Video Capture:
	Frames per second: 30.000 (30/1)
	Read buffers     : 8
Streaming Parameters Video Output:
	Frames per second: 30.000 (30/1)
	Write buffers    : 8

User Controls

                    keep_format 0x0098f900 (bool)   : default=0 value=0
              sustain_framerate 0x0098f901 (bool)   : default=0 value=0
                        timeout 0x0098f902 (int)    : min=0 max=100000 step=1 default=0 value=0
               timeout_image_io 0x0098f903 (bool)   : default=0 value=0

GST_DEBUG=3 gst-launch-1.0 --gst-debug -v videotestsrc ! v4l2sink device=/dev/video1
...
0:00:00.299469280 15073   0x557fe71de0 WARN          v4l2bufferpool gstv4l2bufferpool.c:790:gst_v4l2_buffer_pool_start:<v4l2sink0:pool:sink> Uncertain or not enough buffers, enabling copy threshold
Pipeline is PREROLLED ...
Setting pipeline to PLAYING ...
New clock: GstSystemClock
0:00:00.335972561 15073   0x557fe71de0 ERROR         v4l2bufferpool gstv4l2bufferpool.c:479:gst_v4l2_buffer_pool_alloc_buffer:<v4l2sink0:pool:sink> failed to allocate buffer
0:00:00.336012876 15073   0x557fe71de0 WARN              bufferpool gstbufferpool.c:310:do_alloc_buffer:<v4l2sink0:pool:sink> alloc function failed
...

sudo rmmod v4l2loopback.ko

sudo insmod v4l2loopback.ko max_buffers=8

gst-launch-1.0 videotestsrc ! v4l2sink device=/dev/video1

gst-launch-1.0 v4l2src device=/dev/video1 ! xvimagesink

~/projects/umlaeute/v4l2loopback$ v4l2-ctl -d 1 --all
Driver Info (not using libv4l2):
	Driver name   : v4l2 loopback
	Card type     : Dummy video device (0x0000)
	Bus info      : platform:v4l2loopback-000
	Driver version: 4.9.140
	Capabilities  : 0x85208003
		Video Capture
		Video Output
		Video Memory-to-Memory
		Read/Write
		Streaming
		Extended Pix Format
		Device Capabilities
	Device Caps   : 0x85208003
		Video Capture
		Video Output
		Video Memory-to-Memory
		Read/Write
		Streaming
		Extended Pix Format
		Device Capabilities
Priority: 0
Video input : 0 (loopback: ok)
Video output: 0 (loopback in)
Format Video Output:
	Width/Height      : 320/240
	Pixel Format      : 'YUYV'
	Field             : None
	Bytes per Line    : 640
	Size Image        : 153600
	Colorspace        : sRGB
	Transfer Function : sRGB
	YCbCr/HSV Encoding: ITU-R 601
	Quantization      : Limited Range
	Flags             : 
Streaming Parameters Video Capture:
	Frames per second: 30.000 (30/1)
	Read buffers     : 8
Streaming Parameters Video Output:
	Frames per second: 30.000 (30/1)
	Write buffers    : 8

User Controls

                    keep_format 0x0098f900 (bool)   : default=0 value=0
              sustain_framerate 0x0098f901 (bool)   : default=0 value=0
                        timeout 0x0098f902 (int)    : min=0 max=100000 step=1 default=0 value=0
               timeout_image_io 0x0098f903 (bool)   : default=0 value=0

$ gst-launch-1.0 videotestsrc ! v4l2sink device=/dev/video1

$ gst-launch-1.0 v4l2src device=/dev/video1 ! xvimagesink

sudo modprobe v4l2loopback max_buffers=8
ou bien
sudo rmmod ~/projects/umlaeute/v4l2loopback/v4l2loopback.ko
sudo insmod ~/projects/umlaeute/v4l2loopback/v4l2loopback.ko max_buffers=8

gst-launch-1.0 -v filesrc location=/home/lefv2603/Downloads/1080p.mp4 ! tee name=qtdemux ! decodebin ! videoconvert ! video/x-raw ! v4l2sink device=/dev/video1

gst-launch-1.0 -v filesrc location=/home/lefv2603/Downloads/1080p.mp4 ! tee ! qtdemux ! decodebin ! videoconvert ! "video/x-raw,format=(string)I420,width=(int)1920,heigth=(int)1080" ! v4l2sink device=/dev/video1

gst-launch-1.0 -v filesrc location=/home/lefv2603/Downloads/1080p.mp4 ! tee ! qtdemux ! decodebin ! videoconvert ! "video/x-raw" ! v4l2sink device=/dev/video1

$ gst-launch-1.0 v4l2src device=/dev/video1 ! xvimagesink

if( csiCamera() && src != GST_SOURCE_V4L2 )
{
	mSource = src;	 // store camera source method

#if NV_TENSORRT_MAJOR > 1 && NV_TENSORRT_MAJOR < 5	// if JetPack 3.1-3.3 (different flip-method)
	const int flipMethod = 0;					// Xavier (w/TRT5) camera is mounted inverted
#else
	//const int flipMethod = 2;
	const int flipMethod = 0;
#endif	

	if( src == GST_SOURCE_NVCAMERA )
		ss << "nvcamerasrc fpsRange=\"30.0 30.0\" ! video/x-raw(memory:NVMM), width=(int)" << mWidth << ", height=(int)" << mHeight << ", format=(string)NV12 ! nvvidconv flip-method=" << flipMethod << " ! "; //'video/x-raw(memory:NVMM), width=(int)1920, height=(int)1080, format=(string)I420, framerate=(fraction)30/1' ! ";
	else if( src == GST_SOURCE_NVARGUS )
		ss << "nvarguscamerasrc sensor-id=" << mSensorCSI << " ! video/x-raw(memory:NVMM), width=(int)" << mWidth << ", height=(int)" << mHeight << ", framerate=30/1, format=(string)NV12 ! nvvidconv flip-method=" << flipMethod << " ! ";
	
	ss << "video/x-raw ! appsink name=mysink";
}
else
{
	ss << "v4l2src device=" << mCameraStr << " ! "; //		ss << "video/x-raw, width=(int)" << mWidth << ", height=(int)" << mHeight << ", "; 
	
//#if NV_TENSORRT_MAJOR >= 5 //		ss << "format=YUY2 ! videoconvert ! video/x-raw, format=RGB ! videoconvert !"; //	#else
	//ss << " format=RGB ! videoconvert ! video/x-raw, format=RGB ! videoconvert ! "; //	#endif

	ss << " appsink name=mysink";

	mSource = GST_SOURCE_V4L2;
}

mLaunchStr = ss.str();

printf(LOG_GSTREAMER "gstCamera pipeline string:\n");
printf("%s\n", mLaunchStr.c_str());
return true; } > ``` > L'objectif est d'avoir "v4l2src device=/dev/video1 ! appsink name=mysink" >  > - fichier dusty-nv/jetson-inference/utils/display/glDisplay.cpp: >   - ajouter les lignes 157 et 158: > ``` > 153         // retrieve screen info > 154         const int screenIdx   = DefaultScreen(mDisplayX); > 155         int screenWidth = DisplayWidth(mDisplayX, screenIdx); > 156         int screenHeight = DisplayHeight(mDisplayX, screenIdx); > 157         screenWidth = 1280; > 158         screenHeight = 720; > ``` > L'objectif est de démarrer avec la fenêtre (qui va afficher la vidéo) qui ne prend pas tout l'écran. C'est spécifique à mon environnement.  > > Il faut recompiler.  > ``` > $ cd ./dusty-nv/jetson-inference/build > $ make > $ sudo make install > $ sudo ldconfig > ``` ---

lefv2603@lefv2603-jetsonnano:~/projects/dusty-nv/jetson-inference/build$ ./aarch64/bin/segnet-camera --camera=/dev/video1 --network=fcn-resnet18-deepscene --visualize=mask --alpha=255
[gstreamer] initialized gstreamer, version 1.14.5.0
[gstreamer] gstCamera attempting to initialize with GST_SOURCE_NVARGUS, camera /dev/video1
[gstreamer] gstCamera pipeline string:
v4l2src device=/dev/video1 !  appsink name=mysink
[gstreamer] gstCamera successfully initialized with GST_SOURCE_V4L2, camera /dev/video1

segnet-camera:  successfully initialized camera device
    width:  1280
   height:  720
    depth:  24 (bpp)

  gst-launch-1.0 -v filesrc location=/home/lefv2603/Downloads/1080p.mp4 ! tee ! qtdemux ! decodebin ! videoconvert ! videoscale ! "video/x-raw,format=(string)RGB,width=(int)1280,heigth=(int)720" ! v4l2sink device=/dev/video1

lefv2603@lefv2603-jetsonnano:~$ ~/projects/dusty-nv/jetson-inference/build/aarch64/bin/segnet-camera.py --camera=/dev/video1 --network=fcn-resnet18-deepscene --visualize=mask --alpha=255
jetson.inference.__init__.py
jetson.inference -- initializing Python 2.7 bindings...
jetson.inference -- registering module types...
jetson.inference -- done registering module types
jetson.inference -- done Python 2.7 binding initialization
jetson.utils.__init__.py
jetson.utils -- initializing Python 2.7 bindings...
jetson.utils -- registering module functions...
jetson.utils -- done registering module functions
jetson.utils -- registering module types...
jetson.utils -- done registering module types
jetson.utils -- done Python 2.7 binding initialization
jetson.inference -- PyTensorNet_New()
jetson.inference -- PySegNet_Init()
jetson.inference -- segNet loading network using argv command line params
jetson.inference -- segNet.__init__() argv[0] = '/home/lefv2603/projects/dusty-nv/jetson-inference/build/aarch64/bin/segnet-camera.py'
jetson.inference -- segNet.__init__() argv[1] = '--camera=/dev/video1'
jetson.inference -- segNet.__init__() argv[2] = '--network=fcn-resnet18-deepscene'
jetson.inference -- segNet.__init__() argv[3] = '--visualize=mask'
jetson.inference -- segNet.__init__() argv[4] = '--alpha=255'

segNet -- loading segmentation network model from:
       -- prototxt:   (null)
       -- model:      networks/FCN-ResNet18-DeepScene-576x320/fcn_resnet18.onnx
       -- labels:     networks/FCN-ResNet18-DeepScene-576x320/classes.txt
       -- colors:     networks/FCN-ResNet18-DeepScene-576x320/colors.txt
       -- input_blob  'input_0'
       -- output_blob 'output_0'
       -- batch_size  1

[TRT]   TensorRT version 6.0.1
[TRT]   loading NVIDIA plugins...
[TRT]   Plugin Creator registration succeeded - GridAnchor_TRT
[TRT]   Plugin Creator registration succeeded - GridAnchorRect_TRT
[TRT]   Plugin Creator registration succeeded - NMS_TRT
[TRT]   Plugin Creator registration succeeded - Reorg_TRT
[TRT]   Plugin Creator registration succeeded - Region_TRT
[TRT]   Plugin Creator registration succeeded - Clip_TRT
[TRT]   Plugin Creator registration succeeded - LReLU_TRT
[TRT]   Plugin Creator registration succeeded - PriorBox_TRT
[TRT]   Plugin Creator registration succeeded - Normalize_TRT
[TRT]   Plugin Creator registration succeeded - RPROI_TRT
[TRT]   Plugin Creator registration succeeded - BatchedNMS_TRT
[TRT]   Could not register plugin creator:  FlattenConcat_TRT in namespace: 
[TRT]   completed loading NVIDIA plugins.
[TRT]   detected model format - ONNX  (extension '.onnx')
[TRT]   desired precision specified for GPU: FASTEST
[TRT]   requested fasted precision for device GPU without providing valid calibrator, disabling INT8
[TRT]   native precisions detected for GPU:  FP32, FP16
[TRT]   selecting fastest native precision for GPU:  FP16
[TRT]   attempting to open engine cache file /usr/local/bin/networks/FCN-ResNet18-DeepScene-576x320/fcn_resnet18.onnx.1.1.GPU.FP16.engine
[TRT]   loading network profile from engine cache... /usr/local/bin/networks/FCN-ResNet18-DeepScene-576x320/fcn_resnet18.onnx.1.1.GPU.FP16.engine
[TRT]   device GPU, /usr/local/bin/networks/FCN-ResNet18-DeepScene-576x320/fcn_resnet18.onnx loaded
[TRT]   Deserialize required 4022754 microseconds.
[TRT]   device GPU, CUDA engine context initialized with 2 bindings
[TRT]   binding -- index   0
               -- name    'input_0'
               -- type    FP32
               -- in/out  INPUT
               -- # dims  3
               -- dim #0  3 (SPATIAL)
               -- dim #1  320 (SPATIAL)
               -- dim #2  576 (SPATIAL)
[TRT]   binding -- index   1
               -- name    'output_0'
               -- type    FP32
               -- in/out  OUTPUT
               -- # dims  3
               -- dim #0  5 (SPATIAL)
               -- dim #1  10 (SPATIAL)
               -- dim #2  18 (SPATIAL)
[TRT]   binding to input 0 input_0  binding index:  0
[TRT]   binding to input 0 input_0  dims (b=1 c=3 h=320 w=576) size=2211840
[TRT]   binding to output 0 output_0  binding index:  1
[TRT]   binding to output 0 output_0  dims (b=1 c=5 h=10 w=18) size=3600
device GPU, /usr/local/bin/networks/FCN-ResNet18-DeepScene-576x320/fcn_resnet18.onnx initialized.
[TRT]   segNet outputs -- s_w 18  s_h 10  s_c 5
segNet -- class 00  label 'trail'
segNet -- class 01  label 'grass'
segNet -- class 02  label 'vegetation'
segNet -- class 03  label 'obstacle'
segNet -- class 04  label 'sky'
segNet -- loaded 5 class labels
segNet -- class 00  color 200 155 75 180
segNet -- class 01  color 85 210 100 255
segNet -- class 02  color 15 100 20 255
segNet -- class 03  color 255 185 0 255
segNet -- class 04  color 0 120 255 150
segNet -- loaded 5 class colors
jetson.utils -- PyCamera_New()
jetson.utils -- PyCamera_Init()
[gstreamer] initialized gstreamer, version 1.14.5.0
[gstreamer] gstCamera attempting to initialize with GST_SOURCE_NVARGUS, camera /dev/video1
[gstreamer] gstCamera pipeline string:
v4l2src device=/dev/video1 !  appsink name=mysink
[gstreamer] gstCamera successfully initialized with GST_SOURCE_V4L2, camera /dev/video1
jetson.utils -- PyDisplay_New()
jetson.utils -- PyDisplay_Init()
[OpenGL] glDisplay -- X screen 0 resolution:  1920x1080
[OpenGL] glDisplay -- display device initialized
[gstreamer] opening gstCamera for streaming, transitioning pipeline to GST_STATE_PLAYING
[gstreamer] gstreamer changed state from NULL to READY ==> mysink
[gstreamer] gstreamer changed state from NULL to READY ==> v4l2src0
[gstreamer] gstreamer changed state from NULL to READY ==> pipeline0
[gstreamer] gstreamer stream status CREATE ==> src
[gstreamer] gstreamer changed state from READY to PAUSED ==> v4l2src0
[gstreamer] gstreamer changed state from READY to PAUSED ==> pipeline0
[gstreamer] gstreamer msg new-clock ==> pipeline0
[gstreamer] gstreamer changed state from PAUSED to PLAYING ==> v4l2src0
[gstreamer] gstCamera onPreroll
[gstreamer] gstCamera recieved 1280x1080 frame (4147200 bytes, 24 bpp)
[gstreamer] gstreamer stream status ENTER ==> src
[gstreamer] gstreamer msg stream-start ==> pipeline0
[gstreamer] gstreamer changed state from READY to PAUSED ==> mysink
[gstreamer] gstreamer msg async-done ==> pipeline0
[gstreamer] gstreamer changed state from PAUSED to PLAYING ==> mysink
[gstreamer] gstreamer changed state from PAUSED to PLAYING ==> pipeline0
[gstreamer] gstCamera -- allocated 16 ringbuffers, 4147200 bytes each
[gstreamer] gstCamera recieved 1280x1080 frame (4149248 bytes, 24 bpp)
[gstreamer] gstCamera -- allocated 16 RGBA ringbuffers
[OpenGL]   creating 1280x1080 texture
[cuda]  cudaGraphicsGLRegisterBuffer(&mInteropCUDA, mDMA, cudaGraphicsRegisterFlagsWriteDiscard)
[cuda]     unspecified launch failure (error 4) (hex 0x04)
[cuda]     /home/lefv2603/projects/dusty-nv/jetson-inference/utils/display/glTexture.cpp:253
[OpenGL]   creating 640x540 texture
[cuda]  cudaGetLastError()
[cuda]     unspecified launch failure (error 4) (hex 0x04)
[cuda]     /home/lefv2603/projects/dusty-nv/jetson-inference/utils/cuda/cudaNormalize.cu:65
[cuda]  cudaNormalizeRGBA((float4*)img, make_float2(0.0f, 255.0f), (float4*)mNormalizedCUDA, make_float2(0.0f, 1.0f), width, height)
[cuda]     unspecified launch failure (error 4) (hex 0x04)
[cuda]     /home/lefv2603/projects/dusty-nv/jetson-inference/utils/display/glDisplay.cpp:369
[cuda]  cudaGraphicsGLRegisterBuffer(&mInteropCUDA, mDMA, cudaGraphicsRegisterFlagsWriteDiscard)
[cuda]     unspecified launch failure (error 4) (hex 0x04)
[cuda]     /home/lefv2603/projects/dusty-nv/jetson-inference/utils/display/glTexture.cpp:253
[cuda]  cudaEventElapsedTime(&cuda_time, mEventsGPU[evt], mEventsGPU[evt+1])
[cuda]     unspecified launch failure (error 4) (hex 0x04)
[cuda]     /home/lefv2603/projects/dusty-nv/jetson-inference/build/aarch64/include/jetson-inference/tensorNet.h:499
[cuda]  cudaGetLastError()
[cuda]     unspecified launch failure (error 4) (hex 0x04)
[cuda]     /home/lefv2603/projects/dusty-nv/jetson-inference/utils/cuda/cudaRGB.cu:76
[cuda]  cudaRGB8ToRGBA32((uchar3*)input, (float4*)mRGBA[mLatestRGBA], mWidth, mHeight)
[cuda]     unspecified launch failure (error 4) (hex 0x04)
[cuda]     /home/lefv2603/projects/dusty-nv/jetson-inference/utils/camera/gstCamera.cpp:275
[gstreamer] gstCamera failed to convert frame to RGBA
Traceback (most recent call last):
  File "/home/lefv2603/projects/dusty-nv/jetson-inference/build/aarch64/bin/segnet-camera.py", line 67, in <module>
    img, width, height = camera.CaptureRGBA()
Exception: jetson.utils -- gstCamera failed to CaptureRGBA()
jetson.utils -- PyDisplay_Dealloc()
[cuda]  cudaFree(mNormalizedCUDA)
[cuda]     unspecified launch failure (error 4) (hex 0x04)
[cuda]     /home/lefv2603/projects/dusty-nv/jetson-inference/utils/display/glDisplay.cpp:78
jetson.utils -- freeing CUDA mapped memory
[cuda]  cudaFreeHost(ptr)
[cuda]     unspecified launch failure (error 4) (hex 0x04)
[cuda]     /home/lefv2603/projects/dusty-nv/jetson-inference/utils/python/bindings/PyCUDA.cpp:121
jetson.utils -- failed to free CUDA mapped memory with cudaFreeHost()
jetson.utils -- PyCamera_Dealloc()
[gstreamer] closing gstCamera for streaming, transitioning pipeline to GST_STATE_NULL
[cuda]  cudaFreeHost(mRingbufferCPU[n])
[cuda]     unspecified launch failure (error 4) (hex 0x04)
[cuda]     /home/lefv2603/projects/dusty-nv/jetson-inference/utils/camera/gstCamera.cpp:91
[cuda]  cudaFree(mRGBA[n])
[cuda]     unspecified launch failure (error 4) (hex 0x04)
[cuda]     /home/lefv2603/projects/dusty-nv/jetson-inference/utils/camera/gstCamera.cpp:103
[cuda]  cudaFreeHost(mRingbufferCPU[n])
[cuda]     unspecified launch failure (error 4) (hex 0x04)
[cuda]     /home/lefv2603/projects/dusty-nv/jetson-inference/utils/camera/gstCamera.cpp:91
[cuda]  cudaFree(mRGBA[n])
[cuda]     unspecified launch failure (error 4) (hex 0x04)
[cuda]     /home/lefv2603/projects/dusty-nv/jetson-inference/utils/camera/gstCamera.cpp:103
...
[cuda]  cudaFree(mRGBA[n])
[cuda]     unspecified launch failure (error 4) (hex 0x04)
[cuda]     /home/lefv2603/projects/dusty-nv/jetson-inference/utils/camera/gstCamera.cpp:103
jetson.inference -- PySegNet_Dealloc()
Error at line 289: unspecified launch failure
Error at line 289: unspecified launch failure
Error at line 289: unspecified launch failure
Error at line 289: unspecified launch failure
Error at line 289: unspecified launch failure
Error at line 289: unspecified launch failure
[TRT]   ../rtExt/cuda/cudaFusedConvActRunner.cpp (92) - Cuda Error in destroyFilterTexture: 4 (unspecified launch failure)
[TRT]   INTERNAL_ERROR: std::exception
[TRT]   ../rtSafe/safeRuntime.cpp (32) - Cuda Error in free: 4 (unspecified launch failure)
terminate called after throwing an instance of 'nvinfer1::CudaError'
  what():  std::exception
Aborted (core dumped)
lefv2603@lefv2603-jetsonnano:~$ 

$ cd ~/projects/dusty-nv/jetson-inference
$ cd ./build/aarch64/bin
$ Pour tester avec deepscene
$ ./segnet-camera --camera=/dev/video1 --network=fcn-resnet18-deepscene --visualize=mask --alpha=255 
$ Pour tester avec cityscapes
$ ./segnet-camera --camera=/dev/video1 --network=fcn-resnet18-cityscapes --visualize=mask --alpha=255 

gst-launch-1.0 -v filesrc location=/home/lefv2603/projects/gae724/videos/20200308/20200308_150708.mp4 ! 'video/x-raw(memory:NVMM), format=(string)NV12, width=(int)1080, height=(int)1920, framerate=(fraction)60/1' ! nvvidconv ! 'video/x-raw(memory:NVMM), format=(string)NV12, width=(int)1080, height=(int)1920, framerate=(fraction)60/1' ! nvv4l2h264enc ! h264parse ! v4l2sink device=/dev/video1

gst-launch-1.0 -v filesrc location=/home/lefv2603/projects/gae724/videos/20200308/20200308_150708.mp4 ! tee ! queue ! qtdemux ! h264parse ! nvv4l2decoder ! nvvidconv ! 'video/x-raw(memory:NVMM), format=(string)NV12, width=(int)1080, height=(int)1920, framerate=(fraction)60/1' ! nvv4l2h264enc ! h264parse ! v4l2sink device=/dev/video1

gst-launch-1.0 -v filesrc location=/home/lefv2603/projects/gae724/videos/20200308/20200308_150708.mp4 ! tee ! queue ! qtdemux ! h264parse ! nvv4l2decoder ! nvvidconv flip-method=3 ! 'video/x-raw(memory:NVMM), format=(string)NV12, width=(int)1080, height=(int)1920, framerate=(fraction)60/1' ! nvv4l2h264enc ! h264parse ! tee ! queue ! identity drop-allocation=1 ! v4l2sink device=/dev/video1

# Change the rate to 20 FPS and scale
gst-launch-1.0 -v filesrc location=/home/lefv2603/projects/gae724/videos/20200308/20200308_150708.mp4 ! tee ! queue ! qtdemux ! h264parse ! nvv4l2decoder ! nvvidconv flip-method=3 ! videorate ! videoscale ! 'video/x-raw(memory:NVMM), format=(string)I420, width=(int)1080, height=(int)1920, framerate=(fraction)20/1' ! nvv4l2h264enc ! h264parse ! tee ! queue ! identity drop-allocation=1 ! v4l2sink device=/dev/video1

# feed video1 with a rate 60FPS rescaled and flipped with constant bit rates control
gst-launch-1.0 -v filesrc location=/home/lefv2603/projects/gae724/videos/20200308/20200308_150708.mp4 ! tee ! queue ! qtdemux ! h264parse ! nvv4l2decoder ! nvvidconv flip-method=3 ! videorate ! videoscale ! 'video/x-raw(memory:NVMM), format=(string)I420, width=(int)640, height=(int)480, framerate=(fraction)30/1' ! nvv4l2h264enc control-rate=1 bitrate=5000 ! h264parse ! tee ! queue ! identity drop-allocation=1 ! v4l2sink device=/dev/video1

# play the video, with a flip, rescale and rate FPS
gst-launch-1.0 -v filesrc location=/home/lefv2603/projects/gae724/videos/20200308/20200308_150708.mp4 ! tee ! queue ! qtdemux ! h264parse ! nvv4l2decoder ! nvvidconv flip-method=3 ! videorate ! videoscale ! 'video/x-raw(memory:NVMM), format=(string)I420, width=(int)480, height=(int)640, framerate=(fraction)20/1' ! decodebin ! autovideosink -e

# Moving 60FPS video 1080x1920 (portrait)
gst-launch-1.0 -v filesrc location=/home/lefv2603/projects/gae724/videos/20200308/20200308_150945.mp4 ! tee ! queue ! qtdemux ! h264parse ! nvv4l2decoder ! nvvidconv flip-method=3 ! videorate ! videoscale ! 'video/x-raw(memory:NVMM), format=(string)I420, width=(int)480, height=(int)640, framerate=(fraction)60/1' ! decodebin ! autovideosink -e

# Error but tentative to convert to RGB, to folow the model which is working
gst-launch-1.0 -v filesrc location=/home/lefv2603/projects/gae724/videos/20200308/20200308_150708.mp4 ! tee ! queue ! qtdemux ! h264parse ! nvv4l2decoder ! nvvidconv flip-method=3 ! videorate ! videoscale ! 'video/x-raw(memory:NVMM), format=(string)I420, width=(int)640, height=(int)480, framerate=(fraction)60/1' ! nvv4l2h264enc ! h264parse ! decodebin ! videoconvert ! "video/x-raw,format=(string)RGB,width=(int)480,height=(int)640,framerate=(fraction)30/1" ! videoconvert ! tee ! queue ! identity drop-allocation=1 ! v4l2sink device=/dev/video1

# trying things .. not working, still error. 
gst-launch-1.0 --gst-debug -v filesrc location=/home/lefv2603/projects/gae724/videos/20200308/20200308_150708.mp4 ! "video/x-raw,format=(string)UYVY,width=(int)480,height=(int)640,framerate=(fraction)60/1,interlace-mode=(string)progressive,colorimetry=(string)2:4:7:1" ! decodebin ! videoconvert ! tee ! v4l2sink device=/dev/video1 sync=0

GST_DEBUG=2 gst-launch-1.0 --gst-debug -v filesrc location=/home/lefv2603/projects/gae724/videos/20200308/20200308_150708.mp4 ! tee ! queue ! qtdemux ! h264parse ! nvv4l2decoder ! nvvidconv flip-method=3 ! videorate ! videoscale ! 'video/x-raw(memory:NVMM), format=(string)I420, width=(int)480, height=(int)640, framerate=(fraction)20/1' ! queue ! tee ! nvv4l2h264enc bitrate=8000000 ! h264parse ! v4l2sink device=/dev/video1 -e
...
0:00:17.073011683 15272   0x55c0555540 WARN          v4l2bufferpool gstv4l2bufferpool.c:1482:gst_v4l2_buffer_pool_dqbuf:<nvv4l2decoder0:pool:sink> v4l2 provided buffer that is too big for the memory it was writing into.  v4l2 claims 1008 bytes used but memory is only 0B.  This is probably a driver bug.

lefv2603@lefv2603-jetsonnano:~$ GST_DEBUG=3 gst-launch-1.0 --gst-debug -v filesrc location=/home/lefv2603/projects/gae724/videos/20200308/20200308_150708.mp4 ! tee ! queue ! qtdemux ! queue ! h264parse ! nvv4l2decoder ! nvvidconv flip-method=3 ! videorate ! videoscale ! 'video/x-raw(memory:NVMM),format=(string)NV12,width=(int)480,height=(int)640,framerate=(fraction)20/1' ! nvv4l2h264enc ! h264parse ! v4l2sink device=/dev/video1 -e 2>&1 | tee stream.txt

# works ... but sink to nv3dsink
GST_DEBUG=1 gst-launch-1.0 --gst-debug -v filesrc location=/home/lefv2603/projects/gae724/videos/20200308/20200308_150708.mp4 ! tee ! qtdemux ! queue ! h264parse ! nvv4l2decoder enable-max-performance=1 ! nvvidconv flip-method=3 ! 'video/x-raw(memory:NVMM), format=(string)NV12' ! nv3dsink -e


GST_DEBUG=1 gst-launch-1.0 --gst-debug -v filesrc location=/home/lefv2603/projects/gae724/videos/20200308/20200308_150708.mp4 ! 'video/x-raw(memory:NVMM), width=(int)720, height=(int)1280, format=(string)NV12, framerate=(fraction)30/1' ! nvv4l2h264enc bitrate=8000000 ! h264parse ! qtmux ! qtdemux ! h264parse ! nvv4l2decoder enable-max-performance=1 ! nvvidconv flip-method=3 ! v4l2sink device=/dev/video1 -e

GST_DEBUG=1 gst-launch-1.0 --gst-debug -v filesrc location=/home/lefv2603/projects/gae724/videos/20200308/20200308_150708.mp4 ! tee ! qtdemux ! queue ! h264parse ! nvv4l2decoder enable-max-
performance=1 ! nvvidconv flip-method=3 ! 'video/x-raw(memory:NVMM), format=(string)NV12' ! nvv4l2h264enc bitrate-8000000 ! h264parse ! qtmux !



################
# WORDS WITH NO ERROR !!! 
GST_DEBUG=1 gst-launch-1.0 --gst-debug -v filesrc location=/home/lefv2603/projects/gae724/videos/20200308/20200308_150708.mp4 ! tee ! qtdemux ! queue ! h264parse ! nvv4l2decoder enable-max-performance=1 ! nvvidconv flip-method=3 ! videorate ! videoscale ! 'video/x-raw, format=(string)NV12, width=(int)720, height=(int)1280, framerate=(fraction)60/1' ! tee ! queue ! v4l2sink device=/dev/video1

# run segmentation ... error but memory low
~/projects/dusty-nv/jetson-inference/build/aarch64/bin/segnet-camera --camera=/dev/video1 --network=fcn-resnet18-deepscene --visualize=mask --alpha=255

# initialise
sudo rmmod ~/projects/v4l2loopback/v4l2loopback.ko
sudo insmod ~/projects/v4l2loopback/v4l2loopback.ko max_buffers=8
~/projects/v4l2loopback/utils/v4l2loopback-ctl set-fps 60 /dev/video1
~/projects/v4l2loopback/utils/v4l2loopback-ctl set-caps "video/x-raw,format=NV12,width=720,height=1280" /dev/video1
~/projects/v4l2loopback/utils/v4l2loopback-ctl set-caps "video/x-raw,format=NV12,width=720,height=1280" /dev/video1
v4l2-ctl -d 1 --all 

################
lefv2603@lefv2603-jetsonnano:~$ v4l2-ctl -d 1 --all 
Driver Info (not using libv4l2):
	Driver name   : v4l2 loopback
	Card type     : Dummy video device (0x0000)
	Bus info      : platform:v4l2loopback-000
	Driver version: 4.9.140
	Capabilities  : 0x85208003
		Video Capture
		Video Output
		Video Memory-to-Memory
		Read/Write
		Streaming
		Extended Pix Format
		Device Capabilities
	Device Caps   : 0x85208003
		Video Capture
		Video Output
		Video Memory-to-Memory
		Read/Write
		Streaming
		Extended Pix Format
		Device Capabilities
Priority: 0
Video input : 0 (loopback: ok)
Video output: 0 (loopback in)
Format Video Capture:
	Width/Height      : 720/1280
	Pixel Format      : 'NV12'
	Field             : None
	Bytes per Line    : 720
	Size Image        : 1382400
	Colorspace        : sRGB
	Transfer Function : sRGB
	YCbCr/HSV Encoding: ITU-R 601
	Quantization      : Limited Range
	Flags             : 
Format Video Output:
	Width/Height      : 720/1280
	Pixel Format      : 'NV12'
	Field             : None
	Bytes per Line    : 720
	Size Image        : 1382400
	Colorspace        : sRGB
	Transfer Function : sRGB
	YCbCr/HSV Encoding: ITU-R 601
	Quantization      : Limited Range
	Flags             : 
Streaming Parameters Video Capture:
	Frames per second: 60.000 (60/1)
	Read buffers     : 8
Streaming Parameters Video Output:
	Frames per second: 60.000 (60/1)
	Write buffers    : 8

User Controls

                    keep_format 0x0098f900 (bool)   : default=0 value=1
              sustain_framerate 0x0098f901 (bool)   : default=0 value=1
                        timeout 0x0098f902 (int)    : min=0 max=100000 step=1 default=0 value=0
               timeout_image_io 0x0098f903 (bool)   : default=0 value=0
lefv2603@lefv2603-jetsonnano:~$




GST_DEBUG=1 gst-launch-1.0 --gst-debug -v filesrc location=/home/lefv2603/projects/gae724/videos/20200308/20200308_150708.mp4 ! 'video/x-raw(memory:NVMM), width=(int)720, height=(int)1280, format=(string)NV12, framerate=(fraction)30/1' ! nvivafilter cuda-process=true customer-lib-name="libnvsample_cudaprocess.so" ! 'video/x-raw(memory:NVMM), format=(string)NV12' ! nvoverlaysink -e





### Works
# Producer 
lefv2603@lefv2603-jetsonnano:~$ GST_DEBUG=1 gst-launch-1.0 --gst-debug -v filesrc location=/home/lefv2603/projects/gae724/videos/20200308/20200308_150708.mp4 ! tee ! qtdemux ! queue name=q1 ! h264parse ! nvv4l2decoder enable-max-performance=1 ! nvvidconv flip-method=3 ! videorate ! videoscale ! 'video/x-raw, format=(string)NV12, width=(int)720, height=(int)1280, framerate=(fraction)60/1' ! tee ! queue name=q2 ! v4l2sink device=/dev/video1
Setting pipeline to PAUSED ...
Opening in BLOCKING MODE 
libv4l2: error getting pixformat: Invalid argument
Opening in BLOCKING MODE 
Pipeline is PREROLLING ...
NvMMLiteOpen : Block : BlockType = 261 
NVMEDIA: Reading vendor.tegra.display-size : status: 6 
NvMMLiteBlockCreate : Block : BlockType = 261 
Pipeline is PREROLLED ...
Setting pipeline to PLAYING ...
New clock: GstSystemClock
^Chandling interrupt.
Interrupt: Stopping pipeline ...
Execution ended after 0:00:08.542895143
Setting pipeline to PAUSED ...
Setting pipeline to READY ...
Setting pipeline to NULL ...
Freeing pipeline ...
lefv2603@lefv2603-jetsonnano:~$ 

# Consumer
lefv2603@lefv2603-jetsonnano:~$ gst-launch-1.0 v4l2src device=/dev/video1 ! nvvidconv ! tee ! queue ! nv3dsink -e
Setting pipeline to PAUSED ...
Pipeline is live and does not need PREROLL ...
Setting pipeline to PLAYING ...
New clock: GstSystemClock
^Chandling interrupt.
Interrupt: Stopping pipeline ...
EOS on shutdown enabled -- Forcing EOS on the pipeline
Waiting for EOS...
Got EOS from element "pipeline0".
EOS received - stopping pipeline...
Execution ended after 0:00:02.473096621
Setting pipeline to PAUSED ...
Setting pipeline to READY ...
Setting pipeline to NULL ...
Freeing pipeline ...
lefv2603@lefv2603-jetsonnano:~$ 

# setup
sudo rmmod ~/projects/v4l2loopback/v4l2loopback.ko
sudo insmod ~/projects/v4l2loopback/v4l2loopback.ko max_buffers=8
v4l2-ctl -d 1 --all 


#### WORKS with changing the framerate; excepts that the segmentation does not move. 
# same setup as before
lefv2603@lefv2603-jetsonnano:~$ GST_DEBUG=1 gst-launch-1.0 --gst-debug -v filesrc location=/home/lefv2603/projects/gae724/videos/20200308/20200308_150708.mp4 ! tee ! qtdemux ! queue name=q1 ! h264parse ! nvv4l2decoder enable-max-performance=1 ! nvvidconv flip-method=3 ! videorate ! videoscale ! 'video/x-raw(memory:NVMM), format=(string)NV12, width=(int)720, height=(int)1280, framerate=(fraction)20/1' ! nvv4l2h264enc ! h264parse ! tee ! queue ! identity drop-allocation=1 ! v4l2sink device=/dev/video1

#
lefv2603@lefv2603-jetsonnano:~$ ~/projects/dusty-nv/jetson-inference/build/aarch64/bin/segnet-camera --camera=/dev/video1 --network=fcn-resnet18-deepscene --visualize=mask --alpha=255

# Pb : cannot play on the screen the result from the feed /dev/video from a consumer
# can check the result with a nv3dsink
lefv2603@lefv2603-jetsonnano:~$ GST_DEBUG=1 gst-launch-1.0 --gst-debug -v filesrc location=/home/lefv2603/projects/gae724/videos/20200308/20200308_150708.mp4 ! tee ! qtdemux ! queue name=q1 ! h264parse ! nvv4l2decoder enable-max-performance=1 ! nvvidconv flip-method=3 ! videorate ! videoscale ! 'video/x-raw(memory:NVMM), format=(string)NV12, width=(int)720, height=(int)1280, framerate=(fraction)10/1' ! v4l2sink device=/dev/video1



GST_DEBUG=1 gst-launch-1.0 --gst-debug -v filesrc location=/home/lefv2603/projects/gae724/videos/20200308/20200308_150945.mp4 ! tee ! qtdemux ! queue name=q1 ! h264parse ! nvv4l2decoder enable-max-performance=1 ! nvvidconv flip-method=3 ! videorate ! videoscale ! 'video/x-raw(memory:NVMM), format=(string)NV12, width=(int)720, height=(int)1280, framerate=(fraction)30/1' ! nvv4l2h264enc ! h264parse ! tee ! queue ! nvvidconv ! videorate ! videoscale ! 'video/x-raw, format=(string)RGB, width=(int)720, height=(int)1280, framerate=(fraction)30/1' ! v4l2sink device=/dev/video1



#### It WORKS
lefv2603@lefv2603-jetsonnano:~$ GST_DEBUG=1 gst-launch-1.0 --gst-debug -v filesrc location=/home/lefv2603/projects/gae724/videos/20200308/20200308_150945.mp4 ! tee ! qtdemux ! queue name=q1 ! h264parse ! nvv4l2decoder enable-max-performance=1 ! nvvidconv flip-method=3 ! videorate ! videoscale ! 'video/x-raw(memory:NVMM), format=(string)NV12, width=(int)720, height=(int)1280, framerate=(fraction)10/1' ! nvvidconv ! videorate ! videoscale ! 'video/x-raw, format=(string)UYVY' ! videoconvert ! xvimagesink -e


##### WORKS CAN CONSUME /dev/video1  

lefv2603@lefv2603-jetsonnano:~$ GST_DEBUG=1 gst-launch-1.0 --gst-debug -v filesrc location=/home/lefv2603/projects/gae724/videos/20200308/20200308_150945.mp4 ! tee ! qtdemux ! queue name=q1 ! h264parse ! nvv4l2decoder enable-max-performance=1 ! nvvidconv flip-method=3 ! videorate ! videoscale ! 'video/x-raw(memory:NVMM), format=(string)NV12, width=(int)720, height=(int)1280, framerate=(fraction)30/1' ! nvvidconv ! videorate ! videoscale ! 'video/x-raw, format=(string)NV12, width=(int)720, height=(int)1280, framerate=(fraction)30/1' ! videoconvert ! tee ! queue ! v4l2sink device=/dev/video1
Setting pipeline to PAUSED ...
Opening in BLOCKING MODE 
libv4l2: error getting pixformat: Invalid argument
Opening in BLOCKING MODE 
Pipeline is PREROLLING ...
NvMMLiteOpen : Block : BlockType = 261 
NVMEDIA: Reading vendor.tegra.display-size : status: 6 
NvMMLiteBlockCreate : Block : BlockType = 261 
Pipeline is PREROLLED ...
Setting pipeline to PLAYING ...
New clock: GstSystemClock
^Chandling interrupt.
Interrupt: Stopping pipeline ...
Execution ended after 0:00:31.994123837
Setting pipeline to PAUSED ...
Setting pipeline to READY ...
Setting pipeline to NULL ...
Freeing pipeline ...
lefv2603@lefv2603-jetsonnano:~$ 


lefv2603@lefv2603-jetsonnano:~$ gst-launch-1.0 v4l2src device=/dev/video1 ! nvvidconv ! tee ! queue ! nv3dsink -e
Setting pipeline to PAUSED ...
Pipeline is live and does not need PREROLL ...
Setting pipeline to PLAYING ...
New clock: GstSystemClock
^Chandling interrupt.
Interrupt: Stopping pipeline ...
EOS on shutdown enabled -- Forcing EOS on the pipeline
Waiting for EOS...
Got EOS from element "pipeline0".
EOS received - stopping pipeline...
Execution ended after 0:00:06.432407942
Setting pipeline to PAUSED ...
Setting pipeline to READY ...
Setting pipeline to NULL ...
Freeing pipeline ...

# Can change rate 
lefv2603@lefv2603-jetsonnano:~$ GST_DEBUG=1 gst-launch-1.0 --gst-debug -v filesrc location=/home/lefv2603/projects/gae724/videos/20200308/20200308_150945.mp4 ! tee ! qtdemux ! queue name=q1 ! h264parse ! nvv4l2decoder enable-max-performance=1 ! nvvidconv flip-method=3 ! videorate ! videoscale ! 'video/x-raw(memory:NVMM), format=(string)NV12, width=(int)720, height=(int)1280, framerate=(fraction)30/1' ! nvvidconv ! videorate ! videoscale ! 'video/x-raw, format=(string)NV12, width=(int)720, height=(int)1280, framerate=(fraction)5/1' ! videoconvert ! tee ! queue ! v4l2sink device=/dev/video1

# and producer will show

# Works with format BGRx, YUYV
lefv2603@lefv2603-jetsonnano:~$ GST_DEBUG=1 gst-launch-1.0 --gst-debug -v filesrc location=/home/lefv2603/projects/gae724/videos/20200308/20200308_150945.mp4 ! tee ! qtdemux ! queue name=q1 ! h264parse ! nvv4l2decoder enable-max-performance=1 ! nvvidconv flip-method=3 ! videorate ! videoscale ! 'video/x-raw(memory:NVMM), format=(string)NV12, width=(int)720, height=(int)1280, framerate=(fraction)5/1' ! nvvidconv ! videorate ! videoscale ! 'video/x-raw, format=(string)BGRx, width=(int)480, height=(int)640, framerate=(fraction)30/1' ! videoconvert ! tee ! queue ! v4l2sink device=/dev/video1

#####

### FINALLY WORKS WITH SEGMENTATION !

# RGB is mandatory tp make it work with the segmentation !!! 
# do not add the videorate, it won't work with RGB
# do not add (memory:NVMM), it won't work with RGB
# keep same scale and rate to avoid exceptions/warning

lefv2603@lefv2603-jetsonnano:~$ GST_DEBUG=1 gst-launch-1.0 --gst-debug -v filesrc location=/home/lefv2603/projects/gae724/videos/20200308/20200308_150945.mp4 ! tee ! qtdemux ! queue name=q1 ! h264parse ! nvv4l2decoder enable-max-performance=1 ! nvvidconv flip-method=3 ! videorate ! videoscale ! 'video/x-raw(memory:NVMM), format=(string)NV12, width=(int)720, height=(int)1280, framerate=(fraction)60/1' ! nvvidconv ! videorate ! videoscale ! 'video/x-raw, format=(string)I420, width=(int)480, height=(int)640, framerate=(fraction)30/1' ! tee ! decodebin ! videoconvert ! videoscale ! "video/x-raw,format=(string)RGB,width=(int)1280,heigth=(int)720" ! v4l2sink device=/dev/video1

# with correct width and height and 60FPS. Network seems to limit to 25FSP
lefv2603@lefv2603-jetsonnano:~$ GST_DEBUG=1 gst-launch-1.0 --gst-debug -v filesrc location=/home/lefv2603/projects/gae724/videos/20200308/20200308_150945.mp4 ! tee ! qtdemux ! queue name=q1 ! h264parse ! nvv4l2decoder enable-max-performance=1 ! nvvidconv flip-method=3 ! videorate ! videoscale ! 'video/x-raw(memory:NVMM), format=(string)NV12, width=(int)720, height=(int)1280, framerate=(fraction)60/1' ! nvvidconv ! videorate ! videoscale ! 'video/x-raw, format=(string)I420, width=(int)720, height=(int)1280, framerate=(fraction)60/1' ! tee ! decodebin ! videoconvert ! videoscale ! "video/x-raw,format=(string)RGB,width=(int)720,heigth=(int)1280" ! v4l2sink device=/dev/video1

# 25FPS 480x640
lefv2603@lefv2603-jetsonnano:~$ GST_DEBUG=1 gst-launch-1.0 --gst-debug -v filesrc location=/home/lefv2603/projects/gae724/videos/20200308/20200308_150708.mp4 ! tee ! qtdemux ! queue name=q1 ! h264parse ! nvv4l2decoder enable-max-performance=1 ! nvvidconv flip-method=3 ! videorate ! videoscale ! 'video/x-raw(memory:NVMM), format=(string)NV12, width=(int)480, height=(int)640, framerate=(fraction)25/1' ! nvvidconv ! videorate ! videoscale ! 'video/x-raw, format=(string)I420, width=(int)480, height=(int)640, framerate=(fraction)25/1' ! tee ! decodebin ! videoconvert ! videoscale ! "video/x-raw,format=(string)RGB,width=(int)480,heigth=(int)640" ! v4l2sink device=/dev/video1

# 1FPS 240x320
lefv2603@lefv2603-jetsonnano:~$ GST_DEBUG=1 gst-launch-1.0 --gst-debug -v filesrc location=/home/lefv2603/projects/gae724/videos/20200308/20200308_150708.mp4 ! tee ! qtdemux ! queue name=q1 ! h264parse ! nvv4l2decoder enable-max-performance=1 ! nvvidconv flip-method=3 ! videorate ! videoscale ! 'video/x-raw(memory:NVMM), format=(string)NV12, width=(int)240, height=(int)320, framerate=(fraction)1/1' ! nvvidconv ! videorate ! videoscale ! 'video/x-raw, format=(string)I420, width=(int)240, height=(int)320, framerate=(fraction)1/1' ! tee ! decodebin ! videoconvert ! videoscale ! "video/x-raw,format=(string)RGB,width=(int)240,heigth=(int)320" ! v4l2sink device=/dev/video1

lefv2603@lefv2603-jetsonnano:~$ ~/projects/dusty-nv/jetson-inference/build/aarch64/bin/segnet-camera.py --camera=/dev/video1 --network=fcn-resnet18-deepscene --visualize=mask --alpha=255

# With python version seems to works fine .. do not stop / freeze (cpp freeze)


lefv2603@lefv2603-jetsonnano:~$ v4l2-ctl -d 1 --all 
Driver Info (not using libv4l2):
	Driver name   : v4l2 loopback
	Card type     : Dummy video device (0x0000)
	Bus info      : platform:v4l2loopback-000
	Driver version: 4.9.140
	Capabilities  : 0x85208003
		Video Capture
		Video Output
		Video Memory-to-Memory
		Read/Write
		Streaming
		Extended Pix Format
		Device Capabilities
	Device Caps   : 0x85208003
		Video Capture
		Video Output
		Video Memory-to-Memory
		Read/Write
		Streaming
		Extended Pix Format
		Device Capabilities
Priority: 0
Video input : 0 (loopback: ok)
Video output: 0 (loopback in)
Format Video Output:
	Width/Height      : 1280/640
	Pixel Format      : 'RGB3'
	Field             : None
	Bytes per Line    : 3840
	Size Image        : 2457600
	Colorspace        : sRGB
	Transfer Function : sRGB
	YCbCr/HSV Encoding: Default (maps to ITU-R 601)
	Quantization      : Full Range
	Flags             : 
Streaming Parameters Video Capture:
	Frames per second: 30.000 (30/1)
	Read buffers     : 8
Streaming Parameters Video Output:
	Frames per second: 30.000 (30/1)
	Write buffers    : 8

User Controls

                    keep_format 0x0098f900 (bool)   : default=0 value=0
              sustain_framerate 0x0098f901 (bool)   : default=0 value=0
                        timeout 0x0098f902 (int)    : min=0 max=100000 step=1 default=0 value=0
               timeout_image_io 0x0098f903 (bool)   : default=0 value=0
lefv2603@lefv2603-jetsonnano:~$ 

#!/bin/sh
myvar=$(ps -ef | grep deepscene); echo "$myvar" | if [ "$(wc -l)" -gt 1 ]; then kill -9 $(echo "$myvar" | awk -F" " 'NR==1{print $2}'); else echo "deepscene not running"; fi

	...
	# render the images
	display.BeginRender()
	display.Render(img_overlay, width, height)
	display.Render(img_mask, width/2, height/2, width)

        # save images separately to create a video of it
        # file_out = "/home/lefv2603/Downloads/segnet-camera/capture_img_" + str(i).zfill(3 + len(str(i))) + ".jpg"
	# jetson.utils.saveImageRGBA(file_out, img_overlay, width, height)

	display.EndRender()
	...

#!/bin/bash

usage () { echo "Usage : $0 -d <--debug=[1*|2|3|4|5]> -w <--width=[240|320|480|720*|768|800|832|864|1024|1152|1280]> -h <--height=[240|320|480|720|768|800|832|864|1024|1152|1280*]> -f <--fps=1..30..60*/1> -l <--location=/home/lefv2603/projects/gae724/videos/20200308/20200308_152338.mp4>"; }

DEBUG=1
WIDTH=240   #320o 480o 720o (720p) 768o  832x  768x  800x  864x  900x  960x 1080x(1080p)
HEIGHT=320 #576o 640o 1280o       1024o 1120x 1280x 1280x 1152x 1280x 1600x 1920x
# 
# works (320,576), (480,640), (720,1280), (768,1024), (768x1152), (800,1152), (832,1024), (864,1024)
# does not work (832,1120), (832,1152), (768,1280), (800,1280), (864,1152), (900,1152), (900,1280), (960,1600), (1080,1920), (1024,1024)
FPS=60/1
LOCATION="/home/lefv2603/projects/gae724/videos/20200308/20200308_152338.mp4"
#LOCATION="/home/lefv2603/projects/gae724/videos/20200308/20200308_150945.mp4"
BITRATE=28000000 # 28026 kbps futur use

#if [ $# -ne 5 ]
#then
  #usage
  #exit 1
#fi

while getopts d:w:h:f:l: opt ; do
  case $opt in
    d) DEBUG=$OPTARG ;;
    w) WIDTH=$OPTARG ;;
    h) HEIGHT=$OPTARG ;;
    f) FPS=$OPTARG ;;
    l) LOCATION=$OPTARG ;;
    #*) usage; exit 1;;
  esac
done

# source (or .) to execute a shell script in the same process, keeping and sharing the env var. 
source /home/lefv2603/init.sh 

GST_DEBUG=${DEBUG} gst-launch-1.0 --gst-debug -v filesrc location=${LOCATION} ! qtdemux ! h264parse ! nvv4l2decoder enable-max-performance=1 ! nvvidconv flip-method=3 ! videorate ! videoscale ! "video/x-raw(memory:NVMM), format=(string)NV12, width=(int)${WIDTH}, height=(int)${HEIGHT}, framerate=(fraction)${FPS}" ! nvvidconv ! videorate ! videoscale ! "video/x-raw, format=(string)I420, width=(int)${WIDTH}, height=(int)${HEIGHT}, framerate=(fraction)${FPS}" ! decodebin ! videoconvert ! videoscale ! "video/x-raw,format=(string)RGB,width=(int)${WIDTH},heigth=(int)${HEIGHT}" ! v4l2sink device=/dev/video1 &

pids="$!"

#~/projects/dusty-nv/jetson-inference/build/aarch64/bin/segnet-camera --camera=/dev/video1 --network=fcn-resnet18-deepscene-864x480 --visualize=mask --alpha=255 &
~/projects/dusty-nv/jetson-inference/build/aarch64/bin/segnet-camera.py --camera=/dev/video1 --network=fcn-resnet18-deepscene-576x320 --visualize=mask --alpha=255 &

wait $pids || { echo "there were errors" >&2; exit 1; }
source /home/lefv2603/kill_deepscene.sh

#!/bin/bash

usage () { echo "Usage : $0 -n <--NR=[1|2*]>"; } 

# line number returned by the ps -ef | grep command, matching the process running
if [ -z "${NR}" ]; then 
  NR=1 # defaut if the second line if run by parent process
fi


while getopts n: opt ; do
  case $opt in
    n) NR=$OPTARG ;;
    #*) usage; exit 1;;
  esac
done

echo "NR=${NR}"

myvar=$(ps -ef | grep -e "fcn-resnet18-deepscene"); echo "$myvar" | if [ "$(wc -l)" -gt 1 ]; then kill -9 $(echo "$myvar" | awk -F" " -vnr="${NR}" 'NR==nr {print $2}'); else echo "deepscene not running"; fi

#!/bin/bash
#

DEBUG=1
#WIDTH=("240" "320" "480" "640" "720")
WIDTH=("720" "480" "320" "240")
#WIDTH=("720" "480")
#HEIGHT=("320" "480" "640" "720" "1280")
HEIGHT=("1280" "640" "480" "320")
#FPS=("1/1" "15/1" "30/1" "60/1")
FPS=("60/1" "30/1" "15/1" "1/1")
#FPS=("60/1")
LOCATION="/home/lefv2603/projects/gae724/videos/20200308/20200308_150241.mp4"

echo -e "" > /tmp/run_deepscene_batch.trace
#
for fps in "${FPS[@]}"; do
  echo "FPS is ${fps}" | tee -a /tmp/run_deepscene_batch.trace
  for idx in "${!WIDTH[@]}"; do
    width=${WIDTH[${idx}]}
    height=${HEIGHT[${idx}]}
    echo "WIDTHxHEIGTH is \"${width}\"x\"${height}\"" | tee -a /tmp/run_deepscene_batch.trace
    source /home/lefv2603/run_deepscene.sh -d "${DEBUG}" -w "${width}" -h "${height}" -f "${fps}" -l "${LOCATION}" &
    pid="$!"
    wait $pid || { echo "there were errors" >&2; exit 1; }
  done 
done