Modified motion-estimation for streaming video sources

TX1/TX2 Motion Estimation performed on RTP streaming video (YUV colour space as per RFC 4175). Compatible with DEF-STAN 00-82

Please be patient whilst we fix some of the issues with this code.

• Use Gstreamer1.0 for RTP nvxio FrameSource
• Output video as raw RTP backets (no Gstreamer required)
• CUDA YUV to RGB conversion
• CUDA RBG to YUV conversion
• Output RTP stream with motion overlay
• Colour code arrows based on speed (green=slow, amber=medium, red=fast)

Some additional features that are not currently planned.

• Support for interlaced DEF STAN 00-82 streams
• Support for other Uncompressed video formats (RGB, BGR etc ...)
• SAP support

RTP streaming example for Military Ground Vehicles (DEF STAN 00-82)

Build

1. Cloning the repo

To obtain the repository, navigate to a folder of your choosing on the Jetson. First, make sure git and cmake are installed locally:

sudo apt-get install git cmake

Then clone the rtp-motion-estimation repo:

git clone http://github.com/ross-abaco/rtp-motion-estimation

2. Configuring

When cmake is run, a special pre-installation script (CMakePreBuild.sh) is run and will automatically install any dependencies.

mkdir build
cd build
cmake ../

3. Compiling

Make sure you are still in the motion-estimation/build directory, created above in step #2.

cd motion-estimation/build			# omit if pwd is already /build from above
make

For jetson 64bit builds the architecte will be aarch64.

4. Modifying

Some macros control how the demo can be run and there are located in config.h

• HEADLESS 0 - Dont put anything out on the local display. Usefull for headless operation.
• GST_MULTICAST 1 - Set this for multicast sources
• RTP_STREAM_SOURCE - Define to use RTP Stream class as source (not gstreamer)
• GST_SOURCE 1 - 1 if RTP source, 0 if file source.
• GST_RTP_SINK 1 - RTP Output
• TIMEING_DEBUG 0 - Show timings in stdio

Test

There are several test scripts provided in the root directory.

• testFile01.sh - Catch RTP output using Gstreamer
• testRtp01.sh - Catch RTP output using Gstreamer
• testRtp02.sh - Simple gst-launch-1.0 -v videotestsrc test with motion (1280 x 720)
• testRtp03.sh - Simple gst-launch-1.0 -v videotestsrc test without motion (1280 x 720)
• testRtp04-syntheticvideo.sh - Use a gstreamer videotessrc as input and RTP output (recommended)
• testRtp05-webcam.sh - Use a webcam as input and RTP output
• testRtp06-file.sh - Use the test file 960 x 540 as input and RTP output

Below is the example gstreamer pipline of a moving ball that can be used to test the algorithm :

Using gstreamer as a test source.

Using a live RTP camera to stream video.

Links

• eLinux TX1
• Nvidia devtalk
• RFC4175
• GVA