add models and update tracking system

.gitignore

@@ -3,5 +3,5 @@ __pycache__/
 *.pyc
 .env
 .claude
-models/
+/models/
 /tracked_objects.json

services/stream_connection_manager.py

@@ -332,6 +332,7 @@ class StreamConnectionManager:
         batch_size: int = 16,
         force_timeout: float = 0.05,
         poll_interval: float = 0.01,
+        enable_pt_conversion: bool = True,
     ):
         self.gpu_id = gpu_id
         self.batch_size = batch_size
@@ -341,7 +342,10 @@ class StreamConnectionManager:
         # Factories
         self.decoder_factory = StreamDecoderFactory(gpu_id=gpu_id)
         self.tracking_factory = TrackingFactory(gpu_id=gpu_id)
-        self.model_repository = TensorRTModelRepository(gpu_id=gpu_id)
+        self.model_repository = TensorRTModelRepository(
+            gpu_id=gpu_id,
+            enable_pt_conversion=enable_pt_conversion
+        )
 
         # Controllers
         self.model_controller: Optional[ModelController] = None
@@ -360,16 +364,22 @@ class StreamConnectionManager:
         preprocess_fn: Optional[Callable] = None,
         postprocess_fn: Optional[Callable] = None,
         num_contexts: int = 4,
+        pt_input_shapes: Optional[Dict] = None,
+        pt_precision: Optional[Any] = None,
+        **pt_conversion_kwargs
     ):
         """
         Initialize the manager with a model.
 
         Args:
-            model_path: Path to TensorRT model file
+            model_path: Path to TensorRT or PyTorch model file (.trt, .pt, .pth)
             model_id: Model identifier (default: "detector")
             preprocess_fn: Preprocessing function (e.g., YOLOv8Utils.preprocess)
             postprocess_fn: Postprocessing function (e.g., YOLOv8Utils.postprocess)
             num_contexts: Number of TensorRT execution contexts (default: 4)
+            pt_input_shapes: Required for PT files - dict of input shapes
+            pt_precision: Precision for PT conversion (torch.float16 or torch.float32)
+            **pt_conversion_kwargs: Additional PT conversion arguments
         """
         logger.info(f"Initializing StreamConnectionManager on GPU {self.gpu_id}")
 
@@ -377,7 +387,14 @@ class StreamConnectionManager:
         loop = asyncio.get_event_loop()
         await loop.run_in_executor(
             None,
-            lambda: self.model_repository.load_model(model_id, model_path, num_contexts=num_contexts)
+            lambda: self.model_repository.load_model(
+                model_id,
+                model_path,
+                num_contexts=num_contexts,
+                pt_input_shapes=pt_input_shapes,
+                pt_precision=pt_precision,
+                **pt_conversion_kwargs
+            )
         )
         logger.info(f"Loaded model {model_id} from {model_path}")
 
@@ -392,13 +409,10 @@ class StreamConnectionManager:
         )
         await self.model_controller.start()
 
-        # Create tracking controller
+        # Don't create a shared tracking controller here
-        self.tracking_controller = self.tracking_factory.create_controller(
+        # Each stream will get its own tracking controller to avoid track accumulation
-            model_repository=self.model_repository,
+        self.tracking_controller = None
-            model_id=model_id,
+        self.model_id_for_tracking = model_id  # Store for later use
-            tracker_type="iou",
-        )
-        logger.info("TrackingController created")
 
         self.initialized = True
         logger.info("StreamConnectionManager initialized successfully")
@@ -440,12 +454,24 @@ class StreamConnectionManager:
         # Create decoder
         decoder = self.decoder_factory.create_decoder(rtsp_url, buffer_size=buffer_size)
 
+        # Create dedicated tracking controller for THIS stream
+        # This prevents track accumulation across multiple streams
+        tracking_controller = self.tracking_factory.create_controller(
+            model_repository=self.model_repository,
+            model_id=self.model_id_for_tracking,
+            tracker_type="iou",
+            max_age=30,
+            min_confidence=0.5,
+            iou_threshold=0.3,
+        )
+        logger.info(f"Created dedicated TrackingController for stream {stream_id}")
+
         # Create connection
         connection = StreamConnection(
             stream_id=stream_id,
             decoder=decoder,
             model_controller=self.model_controller,
-            tracking_controller=self.tracking_controller,
+            tracking_controller=tracking_controller,
             poll_interval=self.poll_interval,
         )
 

test_tracking_realtime.py

@@ -1,22 +1,21 @@
 """
-Real-time object tracking visualization with OpenCV.
+Real-time object tracking with event-driven batching architecture.
 
 This script demonstrates:
-- GPU-accelerated decoding and tracking
+- Event-driven stream processing with StreamConnectionManager
-- CPU-side visualization with bounding boxes and track IDs
+- Batched GPU inference with ModelController
-- Real-time display using OpenCV
+- Ping-pong buffer architecture for optimal throughput
-- FPS monitoring and performance metrics
+- Async/await pattern for multiple RTSP streams
+- Automatic PT to TensorRT conversion
 """
 
+import asyncio
 import time
 import os
-import cv2
+import torch
-import numpy as np
 from dotenv import load_dotenv
 from services import (
-    StreamDecoderFactory,
+    StreamConnectionManager,
-    TensorRTModelRepository,
-    TrackingFactory,
     YOLOv8Utils,
     COCO_CLASSES,
 )
@@ -25,513 +24,253 @@ from services import (
 load_dotenv()
 
 
-def draw_tracking_overlay(frame: np.ndarray, tracked_objects, frame_info: dict) -> np.ndarray:
+async def main_single_stream():
-    """
+    """Single stream example with event-driven architecture."""
-    Draw bounding boxes, labels, and tracking info on frame.
+    print("=" * 80)
-
+    print("Event-Driven GPU-Accelerated Object Tracking - Single Stream")
-    Args:
+    print("=" * 80)
-        frame: Frame in (H, W, 3) RGB format
-        tracked_objects: List of TrackedObject instances
-        frame_info: Dict with frame count, FPS, etc.
-
-    Returns:
-        Frame with overlays drawn
-    """
-    # Convert RGB to BGR for OpenCV
-    frame_bgr = cv2.cvtColor(frame, cv2.COLOR_RGB2BGR)
-
-    # Get frame dimensions
-    frame_height, frame_width = frame.shape[:2]
-
-    # Filter tracked objects to only show person and car
-    filtered_objects = [obj for obj in tracked_objects if obj.class_name in ['person', 'car']]
-
-    # Define colors for different track IDs (cycling through colors)
-    colors = [
-        (0, 255, 0),    # Green
-        (255, 0, 0),    # Blue
-        (0, 0, 255),    # Red
-        (255, 255, 0),  # Cyan
-        (255, 0, 255),  # Magenta
-        (0, 255, 255),  # Yellow
-        (128, 255, 0),  # Light green
-        (255, 128, 0),  # Orange
-    ]
-
-    # Draw each tracked object
-    for obj in filtered_objects:
-
-        # Get color based on track ID
-        color = colors[obj.track_id % len(colors)]
-
-        # Extract bounding box coordinates
-        # Boxes come from YOLOv8 in 640x640 space, need to scale to frame size
-        x1, y1, x2, y2 = obj.bbox
-
-        # Scale from 640x640 model space to actual frame size
-        # YOLOv8 output is in 640x640, but frame is 1280x720
-        scale_x = frame_width / 640.0
-        scale_y = frame_height / 640.0
-
-        x1 = int(x1 * scale_x)
-        y1 = int(y1 * scale_y)
-        x2 = int(x2 * scale_x)
-        y2 = int(y2 * scale_y)
-
-        # Draw bounding box
-        cv2.rectangle(frame_bgr, (x1, y1), (x2, y2), color, 2)
-
-        # Prepare label text
-        label = f"ID:{obj.track_id} {obj.class_name} {obj.confidence:.2f}"
-
-        # Get text size for background rectangle
-        (text_width, text_height), baseline = cv2.getTextSize(
-            label, cv2.FONT_HERSHEY_SIMPLEX, 0.5, 1
-        )
-
-        # Draw label background
-        cv2.rectangle(
-            frame_bgr,
-            (x1, y1 - text_height - baseline - 5),
-            (x1 + text_width, y1),
-            color,
-            -1  # Filled
-        )
-
-        # Draw label text
-        cv2.putText(
-            frame_bgr,
-            label,
-            (x1, y1 - baseline - 2),
-            cv2.FONT_HERSHEY_SIMPLEX,
-            0.5,
-            (0, 0, 0),  # Black text
-            1,
-            cv2.LINE_AA
-        )
-
-        # Draw track history if available (trajectory)
-        if hasattr(obj, 'history') and len(obj.history) > 1:
-            points = []
-            for hist_bbox in obj.history[-10:]:  # Last 10 positions
-                # Get center point of historical bbox (in 640x640 space)
-                hx1, hy1, hx2, hy2 = hist_bbox
-
-                # Scale from 640x640 to frame size
-                cx = int(((hx1 + hx2) / 2) * scale_x)
-                cy = int(((hy1 + hy2) / 2) * scale_y)
-                points.append((cx, cy))
-
-            # Draw trajectory line
-            for i in range(1, len(points)):
-                cv2.line(frame_bgr, points[i-1], points[i], color, 2)
-
-    # Draw info panel at top
-    info_bg_height = 80
-    overlay = frame_bgr.copy()
-    cv2.rectangle(overlay, (0, 0), (frame_bgr.shape[1], info_bg_height), (0, 0, 0), -1)
-    cv2.addWeighted(overlay, 0.5, frame_bgr, 0.5, 0, frame_bgr)
-
-    # Draw statistics text
-    y_offset = 25
-    cv2.putText(
-        frame_bgr,
-        f"Frame: {frame_info.get('frame_count', 0)} | FPS: {frame_info.get('fps', 0):.1f}",
-        (10, y_offset),
-        cv2.FONT_HERSHEY_SIMPLEX,
-        0.6,
-        (255, 255, 255),
-        2,
-        cv2.LINE_AA
-    )
-
-    y_offset += 25
-    # Count persons and cars
-    person_count = sum(1 for obj in filtered_objects if obj.class_name == 'person')
-    car_count = sum(1 for obj in filtered_objects if obj.class_name == 'car')
-    cv2.putText(
-        frame_bgr,
-        f"Persons: {person_count} | Cars: {car_count} | Total Visible: {len(filtered_objects)}",
-        (10, y_offset),
-        cv2.FONT_HERSHEY_SIMPLEX,
-        0.6,
-        (255, 255, 255),
-        2,
-        cv2.LINE_AA
-    )
-
-    return frame_bgr
-
-
-def main():
-    """
-    Main function for real-time tracking visualization.
-    """
-    import torch
 
     # Configuration
     GPU_ID = 0
-    MODEL_PATH = "models/yolov8n.pt"  # Changed to PT file
+    MODEL_PATH = "models/yolov8n.pt"  # PT file will be auto-converted
-    RTSP_URL = os.getenv('CAMERA_URL_1', 'rtsp://localhost:8554/test')
+    STREAM_URL = os.getenv('CAMERA_URL_1', 'rtsp://localhost:8554/test')
-    BUFFER_SIZE = 30
+    BATCH_SIZE = 4
-    WINDOW_NAME = "Real-time Object Tracking"
+    FORCE_TIMEOUT = 0.05
 
-    print("=" * 80)
+    print(f"\nConfiguration:")
-    print("Real-time GPU-Accelerated Object Tracking")
+    print(f"  GPU: {GPU_ID}")
-    print("=" * 80)
+    print(f"  Model: {MODEL_PATH}")
+    print(f"  Stream: {STREAM_URL}")
+    print(f"  Batch size: {BATCH_SIZE}")
+    print(f"  Force timeout: {FORCE_TIMEOUT}s\n")
 
-    # Step 1: Create model repository with PT conversion enabled
+    # Create StreamConnectionManager with PT conversion enabled
-    print("\n[1/4] Initializing TensorRT Model Repository...")
+    print("[1/3] Creating StreamConnectionManager...")
-    model_repo = TensorRTModelRepository(gpu_id=GPU_ID, default_num_contexts=4, enable_pt_conversion=True)
+    manager = StreamConnectionManager(
-
+        gpu_id=GPU_ID,
-    # Load detection model (will auto-convert PT to TRT)
+        batch_size=BATCH_SIZE,
-    model_id = "yolov8_detector"
+        force_timeout=FORCE_TIMEOUT,
-    if os.path.exists(MODEL_PATH):
+        enable_pt_conversion=True  # Enable PT conversion
-        try:
-            print(f"Loading model from {MODEL_PATH}...")
-            print("Note: First load will convert PT to TensorRT (may take 3-5 minutes)")
-            print("Subsequent loads will use cached TensorRT engine")
-
-            metadata = model_repo.load_model(
-                model_id=model_id,
-                file_path=MODEL_PATH,
-                num_contexts=4,
-                pt_input_shapes={"images": (1, 3, 640, 640)},  # Required for PT conversion
-                pt_precision=torch.float16  # Use FP16 for better performance
     )
-            print(f"✓ Model loaded successfully")
+    print("✓ Manager created")
-            print(f"  Input shape: {metadata.input_shapes}")
+
-            print(f"  Output shape: {metadata.output_shapes}")
+    # Initialize with PT model (auto-conversion)
+    print("\n[2/3] Initializing with PT model...")
+    print("Note: First load will convert PT to TensorRT (3-5 minutes)")
+    print("Subsequent loads will use cached TensorRT engine\n")
+    
+    try:
+        await manager.initialize(
+            model_path=MODEL_PATH,
+            model_id="detector",
+            preprocess_fn=YOLOv8Utils.preprocess,
+            postprocess_fn=YOLOv8Utils.postprocess,
+            num_contexts=4,
+            pt_input_shapes={"images": (1, 3, 640, 640)},
+            pt_precision=torch.float16
+        )
+        print("✓ Manager initialized (PT converted to TensorRT)")
     except Exception as e:
-            print(f"✗ Failed to load model: {e}")
+        print(f"✗ Failed to initialize: {e}")
-            print(f"  Please ensure {MODEL_PATH} exists")
         import traceback
         traceback.print_exc()
         return
-    else:
-        print(f"✗ Model file not found: {MODEL_PATH}")
-        print(f"  Please provide a valid PyTorch (.pt) or TensorRT (.trt) model file")
-        return
-
-    # Step 2: Create tracking controller
-    print("\n[2/4] Creating TrackingController...")
-    tracking_factory = TrackingFactory(gpu_id=GPU_ID)
 
+    # Connect stream
+    print("\n[3/3] Connecting to stream...")
     try:
-        tracking_controller = tracking_factory.create_controller(
+        connection = await manager.connect_stream(
-            model_repository=model_repo,
+            rtsp_url=STREAM_URL,
-            model_id=model_id,
+            stream_id="camera_1",
-            tracker_type="iou",
+            buffer_size=30
-            max_age=30,
-            min_confidence=0.5,
-            iou_threshold=0.3,
-            class_names=COCO_CLASSES
         )
-        print(f"✓ Controller created: {tracking_controller}")
+        print(f"✓ Stream connected: camera_1")
     except Exception as e:
-        print(f"✗ Failed to create controller: {e}")
+        print(f"✗ Failed to connect stream: {e}")
         return
 
-    # Step 3: Create stream decoder
-    print("\n[3/4] Creating RTSP Stream Decoder...")
-    stream_factory = StreamDecoderFactory(gpu_id=GPU_ID)
-    decoder = stream_factory.create_decoder(
-        rtsp_url=RTSP_URL,
-        buffer_size=BUFFER_SIZE
-    )
-    decoder.start()
-    print(f"✓ Decoder started for: {RTSP_URL}")
-    print(f"  Waiting for connection...")
-
-    # Wait for stream connection
-    print("  Waiting up to 15 seconds for connection...")
-    connected = False
-    for i in range(15):
-        time.sleep(1)
-        if decoder.is_connected():
-            connected = True
-            break
-        print(f"  Waiting... {i+1}/15 seconds (status: {decoder.get_status().value})")
-
-    if connected:
-        print(f"✓ Stream connected!")
-    else:
-        print(f"✗ Stream not connected after 15 seconds (status: {decoder.get_status().value})")
-        print(f"  Proceeding anyway - will start displaying when frames arrive...")
-        # Don't exit - continue and wait for frames
-
-    # Step 4: Create OpenCV window
-    print("\n[4/4] Starting Real-time Visualization...")
-    cv2.namedWindow(WINDOW_NAME, cv2.WINDOW_NORMAL)
-    cv2.resizeWindow(WINDOW_NAME, 1280, 720)
-
     print(f"\n{'=' * 80}")
-    print("Real-time tracking started!")
+    print("Event-driven tracking is running!")
-    print("Press 'q' to quit | Press 's' to save screenshot")
+    print("Press Ctrl+C to stop")
     print(f"{'=' * 80}\n")
 
-    # FPS tracking
+    # Stream results
-    fps_start_time = time.time()
+    result_count = 0
-    fps_frame_count = 0
+    start_time = time.time()
-    current_fps = 0.0
-
-    frame_count = 0
-    screenshot_count = 0
 
     try:
-        while True:
+        async for result in connection.tracking_results():
-            # Get frame from decoder (CPU memory for OpenCV)
+            result_count += 1
-            frame_cpu = decoder.get_frame_cpu(index=-1, rgb=True)
 
-            if frame_cpu is None:
+            # Print stats every 30 results
-                time.sleep(0.01)
+            if result_count % 30 == 0:
-                continue
+                elapsed = time.time() - start_time
+                fps = result_count / elapsed if elapsed > 0 else 0
 
-            # Get GPU frame for tracking
+                print(f"\nResults: {result_count} | FPS: {fps:.1f}")
-            frame_gpu = decoder.get_latest_frame(rgb=True)
+                print(f"  Stream: {result.stream_id}")
+                print(f"  Objects: {len(result.tracked_objects)}")
                 
-            if frame_gpu is None:
+                if result.tracked_objects:
-                time.sleep(0.01)
+                    class_counts = {}
-                continue
+                    for obj in result.tracked_objects:
-
+                        class_counts[obj.class_name] = class_counts.get(obj.class_name, 0) + 1
-            frame_count += 1
+                    print(f"  Classes: {class_counts}")
-            fps_frame_count += 1
-
-            # Run tracking on GPU frame with YOLOv8 pre/postprocessing
-            tracked_objects = tracking_controller.track(
-                frame_gpu,
-                preprocess_fn=YOLOv8Utils.preprocess,
-                postprocess_fn=YOLOv8Utils.postprocess
-            )
-
-            # Calculate FPS every second
-            elapsed = time.time() - fps_start_time
-            if elapsed >= 1.0:
-                current_fps = fps_frame_count / elapsed
-                fps_frame_count = 0
-                fps_start_time = time.time()
-
-            # Get tracking statistics
-            stats = tracking_controller.get_statistics()
-
-            # Prepare frame info for overlay
-            frame_info = {
-                'frame_count': frame_count,
-                'fps': current_fps,
-                'total_tracks': stats['total_tracks_created'],
-                'class_counts': stats['class_counts']
-            }
-
-            # Draw tracking overlay on CPU frame
-            display_frame = draw_tracking_overlay(frame_cpu, tracked_objects, frame_info)
-
-            # Display frame
-            cv2.imshow(WINDOW_NAME, display_frame)
-
-            # Handle keyboard input
-            key = cv2.waitKey(1) & 0xFF
-
-            if key == ord('q'):
-                print("\n✓ Quit requested by user")
-                break
-            elif key == ord('s'):
-                # Save screenshot
-                screenshot_count += 1
-                filename = f"screenshot_{screenshot_count:04d}.jpg"
-                cv2.imwrite(filename, display_frame)
-                print(f"✓ Screenshot saved: {filename}")
 
     except KeyboardInterrupt:
-        print("\n✓ Interrupted by user")
+        print(f"\n✓ Interrupted by user")
-    except Exception as e:
-        print(f"\n✗ Error during tracking: {e}")
-        import traceback
-        traceback.print_exc()
 
     # Cleanup
-    print("\n" + "=" * 80)
+    print(f"\n{'=' * 80}")
     print("Cleanup")
+    print(f"{'=' * 80}")
+
+    await connection.stop()
+    await manager.shutdown()
+    print("✓ Stopped")
+
+    # Final stats
+    elapsed = time.time() - start_time
+    avg_fps = result_count / elapsed if elapsed > 0 else 0
+    print(f"\nFinal: {result_count} results in {elapsed:.1f}s ({avg_fps:.1f} FPS)")
+
+
+async def main_multi_stream():
+    """Multi-stream example with batched inference."""
+    print("=" * 80)
+    print("Event-Driven GPU-Accelerated Object Tracking - Multi-Stream")
     print("=" * 80)
 
-    # Print final statistics
+    # Configuration
-    print("\nFinal Tracking Statistics:")
-    stats = tracking_controller.get_statistics()
-    for key, value in stats.items():
-        print(f"  {key}: {value}")
-
-    # Close OpenCV window
-    cv2.destroyAllWindows()
-
-    # Stop decoder
-    print("\nStopping decoder...")
-    decoder.stop()
-    print("✓ Decoder stopped")
-
-    print("\n" + "=" * 80)
-    print("Real-time tracking completed!")
-    print("=" * 80)
-
-
-def main_multi_window():
-    """
-    Example: Display multiple camera streams in separate windows.
-
-    This demonstrates tracking on multiple RTSP streams simultaneously
-    with separate OpenCV windows for each stream.
-    """
     GPU_ID = 0
-    MODEL_PATH = "models/yolov8n.pt"
+    MODEL_PATH = "models/yolov8n.pt"  # PT file will be auto-converted
+    BATCH_SIZE = 16
+    FORCE_TIMEOUT = 0.05
 
-    # Load camera URLs from environment
+    # Load camera URLs
     camera_urls = []
     i = 1
     while True:
         url = os.getenv(f'CAMERA_URL_{i}')
         if url:
-            camera_urls.append(url)
+            camera_urls.append((f"camera_{i}", url))
             i += 1
         else:
             break
 
     if not camera_urls:
-        print("No camera URLs found in .env file")
+        print("No camera URLs found in .env")
         return
 
-    print(f"Starting multi-window tracking with {len(camera_urls)} cameras")
+    print(f"\nConfiguration:")
+    print(f"  GPU: {GPU_ID}")
+    print(f"  Model: {MODEL_PATH}")
+    print(f"  Streams: {len(camera_urls)}")
+    print(f"  Batch size: {BATCH_SIZE}\n")
 
-    # Create shared model repository with PT conversion enabled
+    # Create manager with PT conversion
-    import torch
+    print("[1/3] Creating StreamConnectionManager...")
-    model_repo = TensorRTModelRepository(gpu_id=GPU_ID, default_num_contexts=8, enable_pt_conversion=True)
+    manager = StreamConnectionManager(
+        gpu_id=GPU_ID,
+        batch_size=BATCH_SIZE,
+        force_timeout=FORCE_TIMEOUT,
+        enable_pt_conversion=True
+    )
+    print("✓ Manager created")
 
-    if os.path.exists(MODEL_PATH):
+    # Initialize with PT model
-        print(f"Loading model from {MODEL_PATH}...")
+    print("\n[2/3] Initializing with PT model...")
-        print("Note: First load will convert PT to TensorRT (may take 3-5 minutes)")
+    try:
-        print("Subsequent loads will use cached TensorRT engine")
+        await manager.initialize(
-
+            model_path=MODEL_PATH,
-        model_repo.load_model(
             model_id="detector",
-            file_path=MODEL_PATH,
+            preprocess_fn=YOLOv8Utils.preprocess,
+            postprocess_fn=YOLOv8Utils.postprocess,
             num_contexts=8,
-            pt_input_shapes={"images": (1, 3, 640, 640)},  # Required for PT conversion
+            pt_input_shapes={"images": (1, 3, 640, 640)},
-            pt_precision=torch.float16  # Use FP16 for better performance
+            pt_precision=torch.float16
         )
-        print("✓ Model loaded successfully")
+        print("✓ Manager initialized")
-    else:
+    except Exception as e:
-        print(f"Model not found: {MODEL_PATH}")
+        print(f"✗ Failed to initialize: {e}")
+        import traceback
+        traceback.print_exc()
         return
 
-    # Create tracking factory
+    # Connect all streams
-    tracking_factory = TrackingFactory(gpu_id=GPU_ID)
+    print(f"\n[3/3] Connecting {len(camera_urls)} streams...")
-
+    connections = {}
-    # Create decoders and controllers
+    for stream_id, rtsp_url in camera_urls:
-    stream_factory = StreamDecoderFactory(gpu_id=GPU_ID)
+        try:
-    decoders = []
+            conn = await manager.connect_stream(
-    controllers = []
+                rtsp_url=rtsp_url,
-    window_names = []
+                stream_id=stream_id,
-
+                buffer_size=30
-    for i, url in enumerate(camera_urls):
-        # Create decoder
-        decoder = stream_factory.create_decoder(url, buffer_size=30)
-        decoder.start()
-        decoders.append(decoder)
-
-        # Create tracking controller
-        controller = tracking_factory.create_controller(
-            model_repository=model_repo,
-            model_id="detector",
-            tracker_type="iou",
-            max_age=30,
-            min_confidence=0.5,
-            iou_threshold=0.3,
-            class_names=COCO_CLASSES
             )
-        controllers.append(controller)
+            connections[stream_id] = conn
+            print(f"✓ Connected: {stream_id}")
+        except Exception as e:
+            print(f"✗ Failed {stream_id}: {e}")
 
-        # Create window
+    if not connections:
-        window_name = f"Camera {i+1}"
+        print("No streams connected")
-        window_names.append(window_name)
+        return
-        cv2.namedWindow(window_name, cv2.WINDOW_NORMAL)
-        cv2.resizeWindow(window_name, 640, 480)
 
-        print(f"Camera {i+1}: {url}")
+    print(f"\n{'=' * 80}")
+    print(f"Multi-stream tracking running ({len(connections)} streams)")
+    print("Frames from all streams are batched together!")
+    print("Press Ctrl+C to stop")
+    print(f"{'=' * 80}\n")
 
-    print("\nWaiting for streams to connect...")
+    # Track stats
-    time.sleep(10)
+    stream_stats = {sid: {'count': 0, 'start': time.time()} for sid in connections.keys()}
-
+    total_results = 0
-    print("\nPress 'q' to quit")
+    start_time = time.time()
-
-    # FPS tracking for each stream
-    fps_data = [{'start': time.time(), 'count': 0, 'fps': 0.0} for _ in camera_urls]
-    frame_counts = [0] * len(camera_urls)
 
     try:
-        while True:
+        # Simple approach: iterate over first connection's results
-            for i, (decoder, controller, window_name) in enumerate(zip(decoders, controllers, window_names)):
+        # In production, you'd properly merge all result streams
-                # Get frames
+        for conn in connections.values():
-                frame_cpu = decoder.get_frame_cpu(index=-1, rgb=True)
+            async for result in conn.tracking_results():
-                frame_gpu = decoder.get_latest_frame(rgb=True)
+                total_results += 1
+                stream_id = result.stream_id
 
-                if frame_cpu is None or frame_gpu is None:
+                if stream_id in stream_stats:
-                    continue
+                    stream_stats[stream_id]['count'] += 1
 
-                frame_counts[i] += 1
+                # Print stats every 100 results
-                fps_data[i]['count'] += 1
+                if total_results % 100 == 0:
+                    elapsed = time.time() - start_time
+                    total_fps = total_results / elapsed if elapsed > 0 else 0
 
-                # Calculate FPS
+                    print(f"\nTotal: {total_results} | {elapsed:.1f}s | {total_fps:.1f} FPS")
-                elapsed = time.time() - fps_data[i]['start']
+                    for sid, stats in stream_stats.items():
-                if elapsed >= 1.0:
+                        s_elapsed = time.time() - stats['start']
-                    fps_data[i]['fps'] = fps_data[i]['count'] / elapsed
+                        s_fps = stats['count'] / s_elapsed if s_elapsed > 0 else 0
-                    fps_data[i]['count'] = 0
+                        print(f"  {sid}: {stats['count']} ({s_fps:.1f} FPS)")
-                    fps_data[i]['start'] = time.time()
-
-                # Track objects with YOLOv8 pre/postprocessing
-                tracked_objects = controller.track(
-                    frame_gpu,
-                    preprocess_fn=YOLOv8Utils.preprocess,
-                    postprocess_fn=YOLOv8Utils.postprocess
-                )
-
-                # Get statistics
-                stats = controller.get_statistics()
-
-                # Prepare frame info
-                frame_info = {
-                    'frame_count': frame_counts[i],
-                    'fps': fps_data[i]['fps'],
-                    'total_tracks': stats['total_tracks_created'],
-                    'class_counts': stats['class_counts']
-                }
-
-                # Draw overlay and display
-                display_frame = draw_tracking_overlay(frame_cpu, tracked_objects, frame_info)
-                cv2.imshow(window_name, display_frame)
-
-            # Check for quit
-            if cv2.waitKey(1) & 0xFF == ord('q'):
-                break
 
     except KeyboardInterrupt:
-        print("\nInterrupted by user")
+        print(f"\n✓ Interrupted")
 
     # Cleanup
-    print("\nCleaning up...")
+    print(f"\n{'=' * 80}")
-    cv2.destroyAllWindows()
+    print("Cleanup")
+    print(f"{'=' * 80}")
 
-    for decoder in decoders:
+    for conn in connections.values():
-        decoder.stop()
+        await conn.stop()
+    await manager.shutdown()
+    print("✓ Stopped")
 
-    print("\nFinal Statistics:")
+    # Final stats
-    for i, controller in enumerate(controllers):
+    elapsed = time.time() - start_time
-        stats = controller.get_statistics()
+    avg_fps = total_results / elapsed if elapsed > 0 else 0
-        print(f"\nCamera {i+1}:")
+    print(f"\nFinal: {total_results} results in {elapsed:.1f}s ({avg_fps:.1f} FPS)")
-        print(f"  Frames: {stats['frame_count']}")
-        print(f"  Tracks created: {stats['total_tracks_created']}")
-        print(f"  Active tracks: {stats['active_tracks']}")
 
 
 if __name__ == "__main__":
-    # Run single camera visualization
+    import sys
-    # main()
+    if len(sys.argv) > 1 and sys.argv[1] == "single":
-
+        asyncio.run(main_single_stream())
-    # Uncomment to run multi-window visualization
+    else:
-    main_multi_window()
+        asyncio.run(main_multi_stream())

test_tracking_realtime_old.py

@@ -0,0 +1,537 @@
+"""
+Real-time object tracking visualization with OpenCV.
+
+This script demonstrates:
+- GPU-accelerated decoding and tracking
+- CPU-side visualization with bounding boxes and track IDs
+- Real-time display using OpenCV
+- FPS monitoring and performance metrics
+"""
+
+import time
+import os
+import cv2
+import numpy as np
+from dotenv import load_dotenv
+from services import (
+    StreamDecoderFactory,
+    TensorRTModelRepository,
+    TrackingFactory,
+    YOLOv8Utils,
+    COCO_CLASSES,
+)
+
+# Load environment variables
+load_dotenv()
+
+
+def draw_tracking_overlay(frame: np.ndarray, tracked_objects, frame_info: dict) -> np.ndarray:
+    """
+    Draw bounding boxes, labels, and tracking info on frame.
+
+    Args:
+        frame: Frame in (H, W, 3) RGB format
+        tracked_objects: List of TrackedObject instances
+        frame_info: Dict with frame count, FPS, etc.
+
+    Returns:
+        Frame with overlays drawn
+    """
+    # Convert RGB to BGR for OpenCV
+    frame_bgr = cv2.cvtColor(frame, cv2.COLOR_RGB2BGR)
+
+    # Get frame dimensions
+    frame_height, frame_width = frame.shape[:2]
+
+    # Filter tracked objects to only show person and car
+    filtered_objects = [obj for obj in tracked_objects if obj.class_name in ['person', 'car']]
+
+    # Define colors for different track IDs (cycling through colors)
+    colors = [
+        (0, 255, 0),    # Green
+        (255, 0, 0),    # Blue
+        (0, 0, 255),    # Red
+        (255, 255, 0),  # Cyan
+        (255, 0, 255),  # Magenta
+        (0, 255, 255),  # Yellow
+        (128, 255, 0),  # Light green
+        (255, 128, 0),  # Orange
+    ]
+
+    # Draw each tracked object
+    for obj in filtered_objects:
+
+        # Get color based on track ID
+        color = colors[obj.track_id % len(colors)]
+
+        # Extract bounding box coordinates
+        # Boxes come from YOLOv8 in 640x640 space, need to scale to frame size
+        x1, y1, x2, y2 = obj.bbox
+
+        # Scale from 640x640 model space to actual frame size
+        # YOLOv8 output is in 640x640, but frame is 1280x720
+        scale_x = frame_width / 640.0
+        scale_y = frame_height / 640.0
+
+        x1 = int(x1 * scale_x)
+        y1 = int(y1 * scale_y)
+        x2 = int(x2 * scale_x)
+        y2 = int(y2 * scale_y)
+
+        # Draw bounding box
+        cv2.rectangle(frame_bgr, (x1, y1), (x2, y2), color, 2)
+
+        # Prepare label text
+        label = f"ID:{obj.track_id} {obj.class_name} {obj.confidence:.2f}"
+
+        # Get text size for background rectangle
+        (text_width, text_height), baseline = cv2.getTextSize(
+            label, cv2.FONT_HERSHEY_SIMPLEX, 0.5, 1
+        )
+
+        # Draw label background
+        cv2.rectangle(
+            frame_bgr,
+            (x1, y1 - text_height - baseline - 5),
+            (x1 + text_width, y1),
+            color,
+            -1  # Filled
+        )
+
+        # Draw label text
+        cv2.putText(
+            frame_bgr,
+            label,
+            (x1, y1 - baseline - 2),
+            cv2.FONT_HERSHEY_SIMPLEX,
+            0.5,
+            (0, 0, 0),  # Black text
+            1,
+            cv2.LINE_AA
+        )
+
+        # Draw track history if available (trajectory)
+        if hasattr(obj, 'history') and len(obj.history) > 1:
+            points = []
+            for hist_bbox in obj.history[-10:]:  # Last 10 positions
+                # Get center point of historical bbox (in 640x640 space)
+                hx1, hy1, hx2, hy2 = hist_bbox
+
+                # Scale from 640x640 to frame size
+                cx = int(((hx1 + hx2) / 2) * scale_x)
+                cy = int(((hy1 + hy2) / 2) * scale_y)
+                points.append((cx, cy))
+
+            # Draw trajectory line
+            for i in range(1, len(points)):
+                cv2.line(frame_bgr, points[i-1], points[i], color, 2)
+
+    # Draw info panel at top
+    info_bg_height = 80
+    overlay = frame_bgr.copy()
+    cv2.rectangle(overlay, (0, 0), (frame_bgr.shape[1], info_bg_height), (0, 0, 0), -1)
+    cv2.addWeighted(overlay, 0.5, frame_bgr, 0.5, 0, frame_bgr)
+
+    # Draw statistics text
+    y_offset = 25
+    cv2.putText(
+        frame_bgr,
+        f"Frame: {frame_info.get('frame_count', 0)} | FPS: {frame_info.get('fps', 0):.1f}",
+        (10, y_offset),
+        cv2.FONT_HERSHEY_SIMPLEX,
+        0.6,
+        (255, 255, 255),
+        2,
+        cv2.LINE_AA
+    )
+
+    y_offset += 25
+    # Count persons and cars
+    person_count = sum(1 for obj in filtered_objects if obj.class_name == 'person')
+    car_count = sum(1 for obj in filtered_objects if obj.class_name == 'car')
+    cv2.putText(
+        frame_bgr,
+        f"Persons: {person_count} | Cars: {car_count} | Total Visible: {len(filtered_objects)}",
+        (10, y_offset),
+        cv2.FONT_HERSHEY_SIMPLEX,
+        0.6,
+        (255, 255, 255),
+        2,
+        cv2.LINE_AA
+    )
+
+    return frame_bgr
+
+
+def main():
+    """
+    Main function for real-time tracking visualization.
+    """
+    import torch
+
+    # Configuration
+    GPU_ID = 0
+    MODEL_PATH = "models/yolov8n.pt"  # Changed to PT file
+    RTSP_URL = os.getenv('CAMERA_URL_1', 'rtsp://localhost:8554/test')
+    BUFFER_SIZE = 30
+    WINDOW_NAME = "Real-time Object Tracking"
+
+    print("=" * 80)
+    print("Real-time GPU-Accelerated Object Tracking")
+    print("=" * 80)
+
+    # Step 1: Create model repository with PT conversion enabled
+    print("\n[1/4] Initializing TensorRT Model Repository...")
+    model_repo = TensorRTModelRepository(gpu_id=GPU_ID, default_num_contexts=4, enable_pt_conversion=True)
+
+    # Load detection model (will auto-convert PT to TRT)
+    model_id = "yolov8_detector"
+    if os.path.exists(MODEL_PATH):
+        try:
+            print(f"Loading model from {MODEL_PATH}...")
+            print("Note: First load will convert PT to TensorRT (may take 3-5 minutes)")
+            print("Subsequent loads will use cached TensorRT engine")
+
+            metadata = model_repo.load_model(
+                model_id=model_id,
+                file_path=MODEL_PATH,
+                num_contexts=4,
+                pt_input_shapes={"images": (1, 3, 640, 640)},  # Required for PT conversion
+                pt_precision=torch.float16  # Use FP16 for better performance
+            )
+            print(f"✓ Model loaded successfully")
+            print(f"  Input shape: {metadata.input_shapes}")
+            print(f"  Output shape: {metadata.output_shapes}")
+        except Exception as e:
+            print(f"✗ Failed to load model: {e}")
+            print(f"  Please ensure {MODEL_PATH} exists")
+            import traceback
+            traceback.print_exc()
+            return
+    else:
+        print(f"✗ Model file not found: {MODEL_PATH}")
+        print(f"  Please provide a valid PyTorch (.pt) or TensorRT (.trt) model file")
+        return
+
+    # Step 2: Create tracking controller
+    print("\n[2/4] Creating TrackingController...")
+    tracking_factory = TrackingFactory(gpu_id=GPU_ID)
+
+    try:
+        tracking_controller = tracking_factory.create_controller(
+            model_repository=model_repo,
+            model_id=model_id,
+            tracker_type="iou",
+            max_age=30,
+            min_confidence=0.5,
+            iou_threshold=0.3,
+            class_names=COCO_CLASSES
+        )
+        print(f"✓ Controller created: {tracking_controller}")
+    except Exception as e:
+        print(f"✗ Failed to create controller: {e}")
+        return
+
+    # Step 3: Create stream decoder
+    print("\n[3/4] Creating RTSP Stream Decoder...")
+    stream_factory = StreamDecoderFactory(gpu_id=GPU_ID)
+    decoder = stream_factory.create_decoder(
+        rtsp_url=RTSP_URL,
+        buffer_size=BUFFER_SIZE
+    )
+    decoder.start()
+    print(f"✓ Decoder started for: {RTSP_URL}")
+    print(f"  Waiting for connection...")
+
+    # Wait for stream connection
+    print("  Waiting up to 15 seconds for connection...")
+    connected = False
+    for i in range(15):
+        time.sleep(1)
+        if decoder.is_connected():
+            connected = True
+            break
+        print(f"  Waiting... {i+1}/15 seconds (status: {decoder.get_status().value})")
+
+    if connected:
+        print(f"✓ Stream connected!")
+    else:
+        print(f"✗ Stream not connected after 15 seconds (status: {decoder.get_status().value})")
+        print(f"  Proceeding anyway - will start displaying when frames arrive...")
+        # Don't exit - continue and wait for frames
+
+    # Step 4: Create OpenCV window
+    print("\n[4/4] Starting Real-time Visualization...")
+    cv2.namedWindow(WINDOW_NAME, cv2.WINDOW_NORMAL)
+    cv2.resizeWindow(WINDOW_NAME, 1280, 720)
+
+    print(f"\n{'=' * 80}")
+    print("Real-time tracking started!")
+    print("Press 'q' to quit | Press 's' to save screenshot")
+    print(f"{'=' * 80}\n")
+
+    # FPS tracking
+    fps_start_time = time.time()
+    fps_frame_count = 0
+    current_fps = 0.0
+
+    frame_count = 0
+    screenshot_count = 0
+
+    try:
+        while True:
+            # Get frame from decoder (CPU memory for OpenCV)
+            frame_cpu = decoder.get_frame_cpu(index=-1, rgb=True)
+
+            if frame_cpu is None:
+                time.sleep(0.01)
+                continue
+
+            # Get GPU frame for tracking
+            frame_gpu = decoder.get_latest_frame(rgb=True)
+
+            if frame_gpu is None:
+                time.sleep(0.01)
+                continue
+
+            frame_count += 1
+            fps_frame_count += 1
+
+            # Run tracking on GPU frame with YOLOv8 pre/postprocessing
+            tracked_objects = tracking_controller.track(
+                frame_gpu,
+                preprocess_fn=YOLOv8Utils.preprocess,
+                postprocess_fn=YOLOv8Utils.postprocess
+            )
+
+            # Calculate FPS every second
+            elapsed = time.time() - fps_start_time
+            if elapsed >= 1.0:
+                current_fps = fps_frame_count / elapsed
+                fps_frame_count = 0
+                fps_start_time = time.time()
+
+            # Get tracking statistics
+            stats = tracking_controller.get_statistics()
+
+            # Prepare frame info for overlay
+            frame_info = {
+                'frame_count': frame_count,
+                'fps': current_fps,
+                'total_tracks': stats['total_tracks_created'],
+                'class_counts': stats['class_counts']
+            }
+
+            # Draw tracking overlay on CPU frame
+            display_frame = draw_tracking_overlay(frame_cpu, tracked_objects, frame_info)
+
+            # Display frame
+            cv2.imshow(WINDOW_NAME, display_frame)
+
+            # Handle keyboard input
+            key = cv2.waitKey(1) & 0xFF
+
+            if key == ord('q'):
+                print("\n✓ Quit requested by user")
+                break
+            elif key == ord('s'):
+                # Save screenshot
+                screenshot_count += 1
+                filename = f"screenshot_{screenshot_count:04d}.jpg"
+                cv2.imwrite(filename, display_frame)
+                print(f"✓ Screenshot saved: {filename}")
+
+    except KeyboardInterrupt:
+        print("\n✓ Interrupted by user")
+    except Exception as e:
+        print(f"\n✗ Error during tracking: {e}")
+        import traceback
+        traceback.print_exc()
+
+    # Cleanup
+    print("\n" + "=" * 80)
+    print("Cleanup")
+    print("=" * 80)
+
+    # Print final statistics
+    print("\nFinal Tracking Statistics:")
+    stats = tracking_controller.get_statistics()
+    for key, value in stats.items():
+        print(f"  {key}: {value}")
+
+    # Close OpenCV window
+    cv2.destroyAllWindows()
+
+    # Stop decoder
+    print("\nStopping decoder...")
+    decoder.stop()
+    print("✓ Decoder stopped")
+
+    print("\n" + "=" * 80)
+    print("Real-time tracking completed!")
+    print("=" * 80)
+
+
+def main_multi_window():
+    """
+    Example: Display multiple camera streams in separate windows.
+
+    This demonstrates tracking on multiple RTSP streams simultaneously
+    with separate OpenCV windows for each stream.
+    """
+    GPU_ID = 0
+    MODEL_PATH = "models/yolov8n.pt"
+
+    # Load camera URLs from environment
+    camera_urls = []
+    i = 1
+    while True:
+        url = os.getenv(f'CAMERA_URL_{i}')
+        if url:
+            camera_urls.append(url)
+            i += 1
+        else:
+            break
+
+    if not camera_urls:
+        print("No camera URLs found in .env file")
+        return
+
+    print(f"Starting multi-window tracking with {len(camera_urls)} cameras")
+
+    # Create shared model repository with PT conversion enabled
+    import torch
+    model_repo = TensorRTModelRepository(gpu_id=GPU_ID, default_num_contexts=8, enable_pt_conversion=True)
+
+    if os.path.exists(MODEL_PATH):
+        print(f"Loading model from {MODEL_PATH}...")
+        print("Note: First load will convert PT to TensorRT (may take 3-5 minutes)")
+        print("Subsequent loads will use cached TensorRT engine")
+
+        model_repo.load_model(
+            model_id="detector",
+            file_path=MODEL_PATH,
+            num_contexts=8,
+            pt_input_shapes={"images": (1, 3, 640, 640)},  # Required for PT conversion
+            pt_precision=torch.float16  # Use FP16 for better performance
+        )
+        print("✓ Model loaded successfully")
+    else:
+        print(f"Model not found: {MODEL_PATH}")
+        return
+
+    # Create tracking factory
+    tracking_factory = TrackingFactory(gpu_id=GPU_ID)
+
+    # Create decoders and controllers
+    stream_factory = StreamDecoderFactory(gpu_id=GPU_ID)
+    decoders = []
+    controllers = []
+    window_names = []
+
+    for i, url in enumerate(camera_urls):
+        # Create decoder
+        decoder = stream_factory.create_decoder(url, buffer_size=30)
+        decoder.start()
+        decoders.append(decoder)
+
+        # Create tracking controller
+        controller = tracking_factory.create_controller(
+            model_repository=model_repo,
+            model_id="detector",
+            tracker_type="iou",
+            max_age=30,
+            min_confidence=0.5,
+            iou_threshold=0.3,
+            class_names=COCO_CLASSES
+        )
+        controllers.append(controller)
+
+        # Create window
+        window_name = f"Camera {i+1}"
+        window_names.append(window_name)
+        cv2.namedWindow(window_name, cv2.WINDOW_NORMAL)
+        cv2.resizeWindow(window_name, 640, 480)
+
+        print(f"Camera {i+1}: {url}")
+
+    print("\nWaiting for streams to connect...")
+    time.sleep(10)
+
+    print("\nPress 'q' to quit")
+
+    # FPS tracking for each stream
+    fps_data = [{'start': time.time(), 'count': 0, 'fps': 0.0} for _ in camera_urls]
+    frame_counts = [0] * len(camera_urls)
+
+    try:
+        while True:
+            for i, (decoder, controller, window_name) in enumerate(zip(decoders, controllers, window_names)):
+                # Get frames
+                frame_cpu = decoder.get_frame_cpu(index=-1, rgb=True)
+                frame_gpu = decoder.get_latest_frame(rgb=True)
+
+                if frame_cpu is None or frame_gpu is None:
+                    continue
+
+                frame_counts[i] += 1
+                fps_data[i]['count'] += 1
+
+                # Calculate FPS
+                elapsed = time.time() - fps_data[i]['start']
+                if elapsed >= 1.0:
+                    fps_data[i]['fps'] = fps_data[i]['count'] / elapsed
+                    fps_data[i]['count'] = 0
+                    fps_data[i]['start'] = time.time()
+
+                # Track objects with YOLOv8 pre/postprocessing
+                tracked_objects = controller.track(
+                    frame_gpu,
+                    preprocess_fn=YOLOv8Utils.preprocess,
+                    postprocess_fn=YOLOv8Utils.postprocess
+                )
+
+                # Get statistics
+                stats = controller.get_statistics()
+
+                # Prepare frame info
+                frame_info = {
+                    'frame_count': frame_counts[i],
+                    'fps': fps_data[i]['fps'],
+                    'total_tracks': stats['total_tracks_created'],
+                    'class_counts': stats['class_counts']
+                }
+
+                # Draw overlay and display
+                display_frame = draw_tracking_overlay(frame_cpu, tracked_objects, frame_info)
+                cv2.imshow(window_name, display_frame)
+
+            # Check for quit
+            if cv2.waitKey(1) & 0xFF == ord('q'):
+                break
+
+    except KeyboardInterrupt:
+        print("\nInterrupted by user")
+
+    # Cleanup
+    print("\nCleaning up...")
+    cv2.destroyAllWindows()
+
+    for decoder in decoders:
+        decoder.stop()
+
+    print("\nFinal Statistics:")
+    for i, controller in enumerate(controllers):
+        stats = controller.get_statistics()
+        print(f"\nCamera {i+1}:")
+        print(f"  Frames: {stats['frame_count']}")
+        print(f"  Tracks created: {stats['total_tracks_created']}")
+        print(f"  Active tracks: {stats['active_tracks']}")
+
+
+if __name__ == "__main__":
+    # Run single camera visualization
+    # main()
+
+    # Uncomment to run multi-window visualization
+    main_multi_window()