edge-impulse-linux 1.18.2 → 1.19.0

package/build/library/sensors/gstreamer.js

@@ -27,6 +27,9 @@ class GStreamer extends tsee_1.EventEmitter {
         this._isStarted = false;
         this._isRestarting = false;
         this._emitsOriginalSizeImages = false;
+        this._lastGstLaunchCommand = '';
+        this._imagesReceived = 0;
+        this._offset = 0;
         this._verbose = verbose;
         this._customLaunchCommand = options?.customLaunchCommand;
         this._spawnHelper = options?.spawnHelperOverride || spawn_helper_1.spawnHelper;
@@ -141,6 +144,8 @@ class GStreamer extends tsee_1.EventEmitter {
             args.push(`-v`);
         }
         args.push(pipeline);
+        // for logging purposes
+        this._lastGstLaunchCommand = `${command} ${args.join(' ')}`;
         if (this._verbose) {
             console.log(PREFIX, `Starting ${command} ${args.join(' ')}`);
         }
@@ -154,11 +159,77 @@ class GStreamer extends tsee_1.EventEmitter {
                 if (this._verbose) {
                     console.log(PREFIX, d.toString('utf-8'));
                 }
-                if (d.toString('utf-8').indexOf('frame_ready:sink') > -1) {
-                    this.emit('profilingInfo', new Date(), 'frame_ready');
-                }
-                if (d.toString('utf-8').indexOf('jpegenc_done:sink') > -1) {
-                    this.emit('profilingInfo', new Date(), 'jpegenc_done');
+                const ts = new Date();
+                const parsePtsFromLine = (line) => {
+                    const m = line.match(/pts: ([\d\.\:]+)/);
+                    if (m && m.length >= 2) {
+                        return m[1];
+                    }
+                    return null;
+                };
+                const parseOffsetFromLine = (line) => {
+                    const m = line.match(/offset: (-?[\d\.\:]+)/);
+                    if (m && m.length >= 2) {
+                        return Number(m[1]);
+                    }
+                    return null;
+                };
+                const str = d.toString('utf-8');
+                for (const line of str.split('\n')) {
+                    if (line.trim().startsWith('/GstPipeline:pipeline0/GstIdentity:')) {
+                        // identity elements
+                        const pts = parsePtsFromLine(line);
+                        let offset = parseOffsetFromLine(line);
+                        const identity = line.replace('/GstPipeline:pipeline0/GstIdentity:', '').split(' ')[0]
+                            .replace(':', '');
+                        // no pts -> skip
+                        if (!pts) {
+                            continue;
+                        }
+                        // frame_ready w/o offset -> also skip
+                        if (identity === 'frame_ready') {
+                            if (offset === null) {
+                                continue;
+                            }
+                            // e.g. qtiqmmfsrc always has offset -1 for frame_ready
+                            if (offset === -1) {
+                                offset = ++this._offset;
+                            }
+                            this.emit('profilingInfo', {
+                                type: 'frame_ready',
+                                ts: ts,
+                                pts: pts,
+                                offset: offset,
+                            });
+                        }
+                        else {
+                            this.emit('profilingInfo', {
+                                type: 'event-without-filename',
+                                ts: ts,
+                                name: identity,
+                                pts: pts,
+                            });
+                        }
+                    }
+                    else if (line.includes('GstMultiFileSink, filename=')) {
+                        let filenameM = line.match(/filename=\(string\)([\w\.]+)/);
+                        if (!filenameM || filenameM.length < 2) {
+                            console.log(PREFIX, `Failed to parse filename from GstMultiFileSink: ` + line.trim());
+                            continue;
+                        }
+                        let timestampM = line.match(/timestamp=\(guint64\)(\d+)/);
+                        if (!timestampM || timestampM.length < 2) {
+                            console.log(PREFIX, `Failed to parse timestamp from GstMultiFileSink: ` + line.trim());
+                            continue;
+                        }
+                        let filename = filenameM[1];
+                        let pts = this.timestampNsToPts(timestampM[1]);
+                        this.emit('profilingInfo', {
+                            type: 'pts-to-filename',
+                            pts: pts,
+                            filename: filename,
+                        });
+                    }
                 }
             });
             this._captureProcess.stderr.on('data', (d) => {
@@ -185,6 +256,7 @@ class GStreamer extends tsee_1.EventEmitter {
                 return;
             if (this._handledFiles[fileName])
                 return;
+            this._imagesReceived++;
             // not next frame yet?
             if (this._processing || Date.now() < nextFrame) {
                 this._handledFiles[fileName] = true;
@@ -226,11 +298,12 @@ class GStreamer extends tsee_1.EventEmitter {
                 if (this._keepAliveTimeout) {
                     clearTimeout(this._keepAliveTimeout);
                 }
+                const tempDir = this._tempDir;
                 try {
                     let [imgBuffer, originalImgBuffer] = await Promise.all([
-                        fs_1.default.promises.readFile(path_1.default.join(this._tempDir, fileName)),
+                        fs_1.default.promises.readFile(path_1.default.join(tempDir, fileName)),
                         this._emitsOriginalSizeImages ?
-                            fs_1.default.promises.readFile(path_1.default.join(this._tempDir, originalName)) :
+                            fs_1.default.promises.readFile(path_1.default.join(tempDir, originalName)) :
                             null,
                     ]);
                     // hash not changed? don't emit another event (streamer does this on Rpi)
@@ -259,9 +332,8 @@ class GStreamer extends tsee_1.EventEmitter {
                     };
                 }
                 catch (ex) {
-                    console.error(PREFIX, 'Failed to load file', path_1.default.join(this._tempDir, fileName), ex);
+                    console.error(PREFIX, 'Failed to load file', path_1.default.join(tempDir, fileName), ex);
                 }
-                const tempDir = this._tempDir;
                 await Promise.all([
                     (async () => {
                         await this.safeUnlinkFile(path_1.default.join(tempDir, fileName));
@@ -304,7 +376,13 @@ class GStreamer extends tsee_1.EventEmitter {
                                 return;
                             }
                             else {
-                                reject('Capture process failed with code ' + code);
+                                if (this._imagesReceived === 0 && this._lastGstLaunchCommand) {
+                                    reject(`Capture process failed with code ${code}\n\n` +
+                                        `command: ${this._lastGstLaunchCommand}`);
+                                }
+                                else {
+                                    reject('Capture process failed with code ' + code);
+                                }
                             }
                         }
                         else {
@@ -358,8 +436,7 @@ class GStreamer extends tsee_1.EventEmitter {
             let customArgs = (0, argv_split_1.split)(this._customLaunchCommand);
             customArgs = customArgs.concat([
                 `!`,
-                `multifilesink`,
-                `location=resized%05d.jpg`
+                `multifilesink location=resized%05d.jpg post-messages=true sync=false`,
             ]);
             return {
                 command: 'gst-launch-1.0',
@@ -389,13 +466,23 @@ class GStreamer extends tsee_1.EventEmitter {
                 framerate: 30,
             };
         }
-        let videoSource = [device.videoSource, 'device=' + device.id];
+        let videoSource = [];
+        if (this._profiling) {
+            videoSource.push('-m');
+        }
+        videoSource.push(device.videoSource);
+        if (device.id) {
+            videoSource.push(`device=${device.id}`);
+        }
         if ((this._mode === 'rpi') || (this._mode === 'microchip')) {
             // Rpi camera
             if ((!device.id)
                 || (device.name.indexOf('unicam') > -1)
                 || (device.name.indexOf('bcm2835-isp') > -1)) {
-                videoSource = ['libcamerasrc'];
+                videoSource = [
+                    ...(this._profiling ? ['-m'] : []),
+                    'libcamerasrc',
+                ];
                 const hasPlugin = await this.hasGstPlugin('libcamerasrc');
                 if (!hasPlugin) {
                     throw new Error('Missing "libcamerasrc" gstreamer element. Install via `sudo apt install -y gstreamer1.0-libcamera`');
@@ -403,34 +490,32 @@ class GStreamer extends tsee_1.EventEmitter {
             }
         }
         else if ((this._mode === 'qualcomm-rb3gen2') || (this._mode === 'qualcomm-yupik')) {
-            videoSource = ['qtiqmmfsrc', 'name=camsrc', 'camera=' + device.id];
+            videoSource = [
+                ...(this._profiling ? ['-m'] : []),
+                'qtiqmmfsrc',
+                'name=camsrc',
+                'camera=' + device.id,
+            ];
         }
         if (device.id === 'pylonsrc') {
-            videoSource = ['pylonsrc'];
+            videoSource = [
+                ...(this._profiling ? ['-m'] : []),
+                'pylonsrc',
+            ];
         }
         let cropArgs = [];
         if (inferenceDims) {
             // fast path for fit-shortest and squash
-            if (inferenceDims.width === inferenceDims.height && inferenceDims.resizeMode === 'fit-shortest') {
-                const crop = this.determineSquareCrop(cap);
-                cropArgs.push(`!`);
-                if (crop.type === 'landscape') {
-                    cropArgs = cropArgs.concat([
-                        `videocrop`, `left=${crop.left}`, `right=${crop.right}`,
-                        `!`,
-                        `videoscale`, `method=lanczos`,
-                        `!`,
-                    ]);
-                }
-                else if (crop.type === 'portrait') {
-                    cropArgs = cropArgs.concat([
-                        `videocrop`, `top=${crop.top}`, `bottom=${crop.bottom}`,
-                        `!`,
-                        `videoscale`, `method=lanczos`,
-                        `!`,
-                    ]);
-                }
-                cropArgs.push(`video/x-raw,width=${inferenceDims.width},height=${inferenceDims.height}`);
+            if (inferenceDims.resizeMode === 'fit-shortest') {
+                const crop = this.computeCropForFitShort(dimensions.width, dimensions.height, inferenceDims.width, inferenceDims.height);
+                cropArgs = cropArgs.concat([
+                    `!`,
+                    `videocrop`, `left=${crop.left}`, `right=${crop.right}`, `top=${crop.top}`, `bottom=${crop.bottom}`,
+                    `!`,
+                    `videoscale`, `method=lanczos`,
+                    `!`,
+                    `video/x-raw,width=${inferenceDims.width},height=${inferenceDims.height}`,
+                ]);
             }
             else if (inferenceDims.resizeMode === 'squash' || inferenceDims.resizeMode === 'none' /* old model */) {
                 cropArgs.push(`!`);
@@ -464,12 +549,11 @@ class GStreamer extends tsee_1.EventEmitter {
                     `jpegenc`,
                     ...jpgencDoneArgs,
                     `!`,
-                    `multifilesink`,
-                    `location=resized%05d.jpg`,
+                    `multifilesink location=resized%05d.jpg post-messages=true sync=false`,
                 ]);
             }
             else {
-                let original = `t. ! queue ! jpegenc ! multifilesink location=original%05d.jpg`;
+                let original = `t. ! queue ! jpegenc ! multifilesink location=original%05d.jpg post-messages=true sync=false`;
                 let resized = [
                     `t. ! queue`,
                     ...cropArgs,
@@ -477,8 +561,7 @@ class GStreamer extends tsee_1.EventEmitter {
                     `jpegenc`,
                     ...jpgencDoneArgs,
                     `!`,
-                    `multifilesink`,
-                    `location=resized%05d.jpg`,
+                    `multifilesink location=resized%05d.jpg post-messages=true sync=false`,
                 ];
                 args = videoSource.concat([
                     ...frameReadyArgs,
@@ -497,15 +580,14 @@ class GStreamer extends tsee_1.EventEmitter {
                 `!`,
                 `image/jpeg,width=${cap.width},height=${cap.height}`,
                 `!`,
-                `multifilesink`,
-                `location=resized%05d.jpg`
+                `multifilesink location=resized%05d.jpg post-messages=true sync=false`
             ]);
         }
         else if (cap.type === 'nvarguscamerasrc') {
             args = [
                 `nvarguscamerasrc ! "video/x-raw(memory:NVMM),width=${cap.width},height=${cap.height}" ! ` +
                     `nvvidconv flip-method=0 ! video/x-raw,width=${cap.width},height=${cap.height} ! nvvidconv ! ` +
-                    `jpegenc ! multifilesink location=resized%05d.jpg`
+                    `jpegenc ! multifilesink location=resized%05d.jpg post-messages=true sync=false`
             ];
         }
         else {
@@ -1143,22 +1225,39 @@ class GStreamer extends tsee_1.EventEmitter {
             this._isRestarting = false;
         }
     }
-    determineSquareCrop({ width, height }) {
-        // no crop needed
-        if (width === height)
-            return { type: 'none' };
-        if (width > height) {
-            const diff = width - height;
-            const left = Math.floor(diff / 2);
-            const right = diff - left;
-            return { type: 'landscape', left, right };
+    /**
+     * Compute the crop to get to the right aspect ratio (fit-short only)
+     * @param srcW Input width (so the webcam resolution)
+     * @param srcH Input height (so the webcam resolution)
+     * @param tgtW Target width (so the inference dimensions)
+     * @param tgtH Target height (so the inference dimensions)
+     * @returns
+     */
+    computeCropForFitShort(srcW, srcH, tgtW, tgtH) {
+        const srcAR = srcW / srcH;
+        const tgtAR = tgtW / tgtH;
+        let cropW;
+        let cropH;
+        if (srcAR > tgtAR) {
+            // Source is wider → crop LEFT/RIGHT
+            cropH = srcH;
+            cropW = Math.round(srcH * tgtAR);
         }
         else {
-            const diff = height - width;
-            const top = Math.floor(diff / 2);
-            const bottom = diff - top;
-            return { type: 'portrait', top, bottom };
-        }
+            // Source is taller/narrower → crop TOP/BOTTOM
+            cropW = srcW;
+            cropH = Math.round(srcW / tgtAR);
+        }
+        const cropLeft = Math.max(0, Math.floor((srcW - cropW) / 2));
+        const cropRight = Math.max(0, srcW - cropW - cropLeft);
+        const cropTop = Math.max(0, Math.floor((srcH - cropH) / 2));
+        const cropBottom = Math.max(0, srcH - cropH - cropTop);
+        return {
+            left: cropLeft,
+            right: cropRight,
+            top: cropTop,
+            bottom: cropBottom,
+        };
     }
     startOriginalCleanupLoop() {
         // eslint-disable-next-line @typescript-eslint/no-floating-promises
@@ -1228,6 +1327,17 @@ class GStreamer extends tsee_1.EventEmitter {
             }
         }
     }
+    timestampNsToPts(nsStr) {
+        const ns = BigInt(nsStr); // important: avoid precision loss
+        const HOUR = 3600000000000n;
+        const MIN = 60000000000n;
+        const SEC = 1000000000n;
+        const h = ns / HOUR;
+        const m = (ns / MIN) % 60n;
+        const s = (ns / SEC) % 60n;
+        const n = ns % SEC;
+        return `${h}:${m.toString().padStart(2, '0')}:${s.toString().padStart(2, '0')}.${n.toString().padStart(9, '0')}`;
+    }
 }
 exports.GStreamer = GStreamer;
 //# sourceMappingURL=gstreamer.js.map

package/build/library/sensors/gstreamer.js.map

@@ -1 +1 @@
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package/build/library/sensors/icamera.d.ts

@@ -16,11 +16,31 @@ export type ICameraStartOptions = {
     };
     inferenceDimensions?: ICameraInferenceDimensions;
 };
+export type ICameraProfilingInfoEvent = {
+    type: 'event-without-filename';
+    ts: Date;
+    name: string;
+    pts: string;
+} | {
+    type: 'frame_ready';
+    ts: Date;
+    pts: string;
+    offset: number;
+} | {
+    type: 'event-with-filename';
+    ts: Date;
+    name: string;
+    filename: string;
+} | {
+    type: 'pts-to-filename';
+    pts: string;
+    filename: string;
+};
 export interface ICamera extends EventEmitter<{
     snapshot: (buffer: Buffer, filename: string) => void;
     snapshotForInference: (buffer: Buffer, filename: string) => void;
     error: (message: string) => void;
-    profilingInfo: (ts: Date, name: string) => void;
+    profilingInfo: (ev: ICameraProfilingInfoEvent) => void;
 }> {
     init(): Promise<void>;
     listDevices(): Promise<string[]>;

package/build/library/sensors/imagesnap.d.ts

@@ -1,12 +1,12 @@
 /// <reference types="node" />
 /// <reference types="node" />
 import { EventEmitter } from 'tsee';
-import { ICamera, ICameraStartOptions } from './icamera';
+import { ICamera, ICameraProfilingInfoEvent, ICameraStartOptions } from './icamera';
 export declare class Imagesnap extends EventEmitter<{
     snapshot: (buffer: Buffer, filename: string) => void;
     snapshotForInference: (buffer: Buffer, filename: string) => void;
     error: (message: string) => void;
-    profilingInfo: (ts: Date, name: string) => void;
+    profilingInfo: (ev: ICameraProfilingInfoEvent) => void;
 }> implements ICamera {
     private _captureProcess?;
     private _tempDir?;
@@ -16,6 +16,7 @@ export declare class Imagesnap extends EventEmitter<{
     private _verbose;
     private _isStarted;
     private _isRestarting;
+    private _pts;
     /**
      * Instantiate the imagesnap backend (on macOS)
      */