Hermes App

Wildfires have been ever-increasing, devouring our planet earth, rendering our planet worse day by day. With early detection and mitigation, it is possible to reduce the damage caused by wildfires.

To better enable our front-line workers, here is Hermes, an AI-powered Computer Vision application that helps in early detection of Wildfires using reconnaissance drones.

Citations

Index

Introduction
Deepstream Setup
1. Install System Dependencies
2. Install Deepstream
Ryze Tello Setup
Running the Application

Introduction

Hermes Application consists of two parts. An Intelligent Video Analytics Pipeline powered by Deepstream and NVIDIA Jetson Xavier NX and a reconnaissance drone, for which I have used a Ryze Tello.

This project is a proof-of-concept, trying to show that surveillance and mapping of wildfires can be done with a drone and an onboard Jetson platform.

Deepstream Setup

This post assumes you have a fully functional Jetson device. If not, you can refer the documentation here.

1. Install System Dependencies

sudo apt install \
libssl1.0.0 \
libgstreamer1.0-0 \
gstreamer1.0-tools \
gstreamer1.0-plugins-good \
gstreamer1.0-plugins-bad \
gstreamer1.0-plugins-ugly \
gstreamer1.0-libav \
libgstrtspserver-1.0-0 \
libjansson4=2.11-1

2. Install Deepstream

Download the DeepStream 5.1 Jetson Debian package deepstream-5.1_5.1.0-1_arm64.deb, to the Jetson device from here. Then enter the command:

sudo apt install deepstream-5.1_5.1.0-1_arm64.deb

Ryze Tello Setup

1. Installing pip packages

First, we need to install python dependencies. Make sure you have a working build of python3.7/3.8

sudo apt install python3-dev python3-pip

The dependencies needed are the following:

djitellopy==1.5
evdev==1.3.0
imutils==0.5.3
numpy==1.19.4
opencv-python==4.4.0.46
pycairo==1.20.0
pygame==2.0.1
PyGObject==3.38.0
pynput==1.7.2
python-xlib==0.29
redis==3.5.3
six==1.15.0

You can either install them with pip command or use the requirements.txt file. Whatever sails your boat :)

# For individial packages
pip3 install <packagename>

# For requirements.txt
pip3 install -r requirements.txt

2. Redis

Redis is used for it's queueing mechanism, which will used to create an rtsp stream of the tello camera stream

Install the Redis Server

sudo apt install redis-server

3. Connect Tello

First, connect the Jetson Device to the WiFi network of Tello.

Next, run the following code to verify connectivity

# Importing the Tello Drone Library
from djitellopy import Tello
pkg = Tello()
pkg.connect()

On successful connection, your output will look something like this

Send command: command
Response: b'ok'

If you get the following output, you may want to check your connection with the drone

Send command: command
Timeout exceed on command command
Command command was unsuccessful. Message: False

Running the Application

1. Clone the repository

This is a straightforward step, however, if you are new to git or git-lfs, I recommend glancing threw the steps.

First, install git and git-lfs

sudo apt install git git-lfs

Next, clone the repository

# Using HTTPS
git clone https://github.com/aj-ames/Hermes-Deepstream.git
# Using SSH
git clone git@github.com:aj-ames/Hermes-Deepstream.git

Finally, enable lfs and pull the yolo weights

git lfs install
git lfs pull

2. Run with different input sources

The computer vision part of the solution can be run on one or many input sources of multiple types, all powered using NVIDIA Deepstream.

First, build the application by running the following command:

make clean && make -j$(nproc)

This will generate the binary called hermes-app. This is a one-time step and you need to do this only when you make source-code changes.

Next, create a file called inputsources.txt and paste the path of videos or rtsp url.

file:///home/astr1x/Videos/Wildfire1.mp4
rtsp://admin:admin%40123@192.168.1.1:554/stream

Now, run the application by running the following command:

./hermes-app

3. Run with the drone

We utilize the livestream of the camera for real-time detection of wildfires.

Since the tello streams over UDP and the Deepstream Hermes app accepts RTSP as input, we need an intermediate UDP->RTSP converter. Also, we need to control the tello's movement.

Run the following command to start the tello control script:

python3 tello-control.py

This script will start the tello stream on the following URL:

rtsp://127.0.0.1:6969/hermes

To control the drone with your keyboard, first press the Left Shift key. The following is a list of keys and what they do -

Left Shift -> Toggle Keyboard controls
Right Shft -> Take off drone
Space -> Land drone
Up arrow -> Increase Altitude
Down arrow -> Decrease Altitude
Left arrow -> Pan left
Right arrow -> Pan right
w -> Move forward
a -> Move left
s -> Move down
d -> Move right

Finally, add the url in inputsources.txt and start ./hermes-app.

kingardor/Hermes-Deepstream