fix(mv3dt): bump Kafka prerequisite version to 4.2.1

src/.gitignore

@@ -4,3 +4,12 @@
 *.pb.cc
 *.pb.h
 .build/
+
+
+
+# Local run builds
+local_build/
+apps/reference_apps/deepstream-tracker-3d-multi-view/datasets/*
+apps/reference_apps/deepstream-tracker-3d-multi-view/experiments/*
+
+apps/reference_apps/deepstream-tracker-3d-multi-view/mv3dt_venv/

src/apps/reference_apps/deepstream-tracker-3d-multi-view/docs/manual-setup.md

@@ -113,9 +113,9 @@ limitations under the License.
     sudo apt install openjdk-17-jdk 
 
     # Get Kafka
-    wget https://dlcdn.apache.org/kafka/4.2.0/kafka_2.13-4.2.0.tgz
-    tar -xzf kafka_2.13-4.2.0.tgz
-    cd kafka_2.13-4.2.0
+    wget https://dlcdn.apache.org/kafka/4.2.1/kafka_2.13-4.2.1.tgz
+    tar -xzf kafka_2.13-4.2.1.tgz
+    cd kafka_2.13-4.2.1
 
     # Start the Kafka environment
     export KAFKA_CLUSTER_ID="$(bin/kafka-storage.sh random-uuid)"
@@ -130,7 +130,7 @@ limitations under the License.
     * Create a `mv3dt` topic under broker server `localhost:9092`, and set the message retention to 30 seconds. 
 
     ```bash
-    cd <path to kafka folder, e.g. kafka_2.13-4.2.0>
+    cd <path to kafka folder, e.g. kafka_2.13-4.2.1>
 
     ./bin/kafka-topics.sh --bootstrap-server localhost:9092 \
         --create \
@@ -149,7 +149,7 @@ limitations under the License.
 
     * To stop a Kafka broker running in the background, you can use the following command:
     ```bash
-    cd <path to kafka folder, e.g. kafka_2.13-4.2.0>
+    cd <path to kafka folder, e.g. kafka_2.13-4.2.1>
     bin/kafka-server-stop.sh
     ```
 

src/apps/reference_apps/deepstream-tracker-3d-multi-view/models/PeopleNetTransformer/nvdsinfer_config.yaml

@@ -0,0 +1,21 @@
+property:
+  gpu-id: 0
+  offsets: 123.675;116.28;103.53
+  net-scale-factor: 0.0173520735728
+  labelfile-path: /workspace/models/PeopleNetTransformer/detector_labels.txt
+  onnx-file: /workspace/models/PeopleNetTransformer/peoplenet_transformer_model_op17.onnx
+  tlt-model-key: nvidia_tao
+  batch-size: 12
+  network-mode: 2
+  num-detected-classes: 4
+  filter-out-class-ids: 0;2;3
+  interval: 0
+  gie-unique-id: 1
+  output-blob-names: pred_boxes;pred_logits
+  infer-dims: 3;544;960
+  cluster-mode: 4
+  parse-bbox-func-name: NvDsInferParseCustomDDETRTAO
+  custom-lib-path: /workspace/models/PeopleNetTransformer/custom_parser/libnvds_infercustomparser_tao.so
+class-attrs-all:
+  pre-cluster-threshold: 0.3
+  topk: 20

src/apps/reference_apps/deepstream-tracker-3d-multi-view/scripts/check_prerequisites.sh

@@ -17,7 +17,7 @@
 # Global variables - same as setup script
 BASE_DIR=${BASE_DIR:-$HOME}
 USE_INFERENCE_BUILDER=${USE_INFERENCE_BUILDER:-false}
-KAFKA_VERSION="4.2.0"
+KAFKA_VERSION="4.2.1"
 SCALA_VERSION="2.13"
 
 # Standardized paths

src/apps/reference_apps/deepstream-tracker-3d-multi-view/scripts/custom_4cam_ds.sh

@@ -0,0 +1,160 @@
+#!/bin/bash
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Run MV3DT on a CUSTOM multi-camera dataset with off-the-shelf detectors.
+#
+# Usage (from the MV3DT app root):
+#   DATASET_DIR=/abs/path/to/my_dataset ./scripts/custom_4cam_ds.sh
+#
+# Expected dataset layout:
+#   my_dataset/
+#   |-- videos/   cam_00.mp4, cam_01.mp4, ...   (synchronized, same resolution)
+#   |-- camInfo/  cam_00.yml,  cam_01.yml,  ... (projectionMatrix_3x4_w2p + modelInfo)
+#   |-- map.png        (optional, BEV only)
+#   `-- transforms.yml (optional, BEV only)
+#
+# Tunables (env vars):
+#   DATASET_DIR        required, dataset root
+#   EXPERIMENT_DIR     default experiments/deepstream/<dataset name>
+#   MODEL_REPO         default <app root>/models
+#   DETECTOR_MODEL     PeopleNetTransformer (default) | RTDETR | PeopleNet2.6.3
+#   TRACKER_CONFIG     default config_tracker.yml (use config_tracker_2d.yml to convert a 2D pipeline)
+#   CONFIG_OVERRIDES   default override_tracker_4cam.yml (empty string disables)
+#   RUN_MODE           display (default when $DISPLAY is set) | headless
+#   ENABLE_BEV         1 (default) when map.png + transforms.yml exist
+#   DEEPSTREAM_IMAGE   default nvcr.io/nvidia/deepstream:9.1-triton-multiarch
+
+set -euo pipefail
+
+REPO_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
+cd "$REPO_ROOT"
+
+export DATASET_DIR="${DATASET_DIR:?Set DATASET_DIR to your custom dataset root (must contain videos/ and camInfo/)}"
+DATASET_DIR="$(cd "$DATASET_DIR" && pwd)"
+export EXPERIMENT_DIR="${EXPERIMENT_DIR:-$REPO_ROOT/experiments/deepstream/$(basename "$DATASET_DIR")}"
+export MODEL_REPO="${MODEL_REPO:-$REPO_ROOT/models}"
+
+# ---------------------------------------------------------------- validation
+[[ -d "$DATASET_DIR/videos"  ]] || { echo "ERROR: $DATASET_DIR/videos missing"  >&2; exit 1; }
+[[ -d "$DATASET_DIR/camInfo" ]] || { echo "ERROR: $DATASET_DIR/camInfo missing" >&2; exit 1; }
+
+NUM_VIDEOS=$(find "$DATASET_DIR/videos" -maxdepth 1 -type f -name '*.mp4' | wc -l)
+NUM_CALIB=$(find "$DATASET_DIR/camInfo" -maxdepth 1 -type f -name '*.yml' | wc -l)
+NUM_CALIB_YAML=$(find "$DATASET_DIR/camInfo" -maxdepth 1 -type f -name '*.yaml' | wc -l)
+
+(( NUM_VIDEOS > 0 )) || { echo "ERROR: no .mp4 files in $DATASET_DIR/videos" >&2; exit 1; }
+
+# The auto-configurator only scans .yml; make non-destructive copies of .yaml exports (e.g. from AutoMagicCalib).
+if (( NUM_CALIB == 0 )) && (( NUM_CALIB_YAML > 0 )); then
+    echo "Copying camInfo/*.yaml -> *.yml (existing .yml files are never overwritten)"
+    find "$DATASET_DIR/camInfo" -maxdepth 1 -type f -name '*.yaml' -print0 \
+        | while IFS= read -r -d '' f; do cp -n "$f" "${f%.yaml}.yml"; done
+    NUM_CALIB=$(find "$DATASET_DIR/camInfo" -maxdepth 1 -type f -name '*.yml' | wc -l)
+fi
+
+(( NUM_CALIB == NUM_VIDEOS )) || {
+    echo "ERROR: $NUM_VIDEOS videos but $NUM_CALIB camInfo/*.yml files - one calibration per camera is required" >&2
+    exit 1
+}
+
+# Videos and calibrations are paired by basename; sorted order is the fallback and is easy to get wrong.
+for v in "$DATASET_DIR"/videos/*.mp4; do
+    b="$(basename "$v" .mp4)"
+    [[ -f "$DATASET_DIR/camInfo/$b.yml" ]] || echo "WARN: no camInfo/$b.yml for videos/$b.mp4 - pairing falls back to sorted order"
+done
+
+echo "Dataset: $DATASET_DIR ($NUM_VIDEOS cameras)"
+
+# ------------------------------------------------------------ detector/tracker
+export DETECTOR_MODEL="${DETECTOR_MODEL:-PeopleNetTransformer}"
+case "$DETECTOR_MODEL" in
+    PeopleNetTransformer) DETECTOR_CONFIG="config_pgie.txt" ;;
+    RTDETR)               DETECTOR_CONFIG="config_pgie_rt_detr.txt" ;;
+    PeopleNet2.6.3)       DETECTOR_CONFIG="config_pgie_peoplenet.txt" ;;
+    *) echo "ERROR: unsupported DETECTOR_MODEL=$DETECTOR_MODEL" >&2; exit 1 ;;
+esac
+TRACKER_CONFIG="${TRACKER_CONFIG:-config_tracker.yml}"
+CONFIG_OVERRIDES="${CONFIG_OVERRIDES-override_tracker_4cam.yml}"
+
+echo "Using detector model: $DETECTOR_MODEL (detector=$DETECTOR_CONFIG, tracker=$TRACKER_CONFIG)"
+
+# ------------------------------------------------------------------- run mode
+RUN_MODE="${RUN_MODE:-$([[ -n "${DISPLAY:-}" ]] && echo display || echo headless)}"
+CONFIG_FLAGS=(--enable-msg-broker)
+if [[ "$RUN_MODE" == "headless" ]]; then
+    CONFIG_FLAGS+=(--enable-file-output)
+else
+    CONFIG_FLAGS+=(--enable-osd --enable-file-output)
+fi
+
+ENABLE_BEV="${ENABLE_BEV:-1}"
+if [[ "$ENABLE_BEV" == "1" && ( ! -f "$DATASET_DIR/map.png" || ! -f "$DATASET_DIR/transforms.yml" ) ]]; then
+    echo "WARN: map.png and/or transforms.yml missing - BEV visualization disabled"
+    ENABLE_BEV=0
+fi
+
+# ----------------------------------------------------------------- GPU runtime
+if docker info 2>/dev/null | grep -q 'Runtimes.*nvidia'; then
+    GPU_FLAG="--runtime=nvidia"
+elif docker run --help | grep -q -- "--gpus"; then
+    GPU_FLAG="--gpus all"
+else
+    echo "No GPU support found in Docker." >&2
+    exit 1
+fi
+
+mkdir -p "$EXPERIMENT_DIR"/{infer-kitti-dump,tracker-kitti-dump,outVideos,bev_outputs}
+
+# ------------------------------------------------------------ generate configs
+source mv3dt_venv/bin/activate
+
+CONFIG_OVERRIDE_ARGS=()
+[[ -n "$CONFIG_OVERRIDES" ]] && CONFIG_OVERRIDE_ARGS+=(--config-overrides="$CONFIG_OVERRIDES")
+
+python utils/deepstream_auto_configurator.py \
+    --dataset-dir="$DATASET_DIR" \
+    "${CONFIG_FLAGS[@]}" \
+    --detector-config="$DETECTOR_CONFIG" \
+    --tracker-config="$TRACKER_CONFIG" \
+    "${CONFIG_OVERRIDE_ARGS[@]}" \
+    --output-dir="$EXPERIMENT_DIR"
+
+# ---------------------------------------------------------------------- BEV
+BEV_PID=""
+if [[ "$ENABLE_BEV" == "1" && "$RUN_MODE" != "headless" ]]; then
+    python utils/kafka_bev_visualizer.py \
+        --dataset-path="$DATASET_DIR" \
+        --msgconv-config="$EXPERIMENT_DIR/config_msgconv.txt" \
+        --average-multi-cam \
+        --show-ids &
+    BEV_PID=$!
+fi
+trap '[[ -n "$BEV_PID" ]] && kill "$BEV_PID" 2>/dev/null || true' EXIT
+
+# ------------------------------------------------------------------- pipeline
+DOCKER_DISPLAY_ARGS=()
+[[ "$RUN_MODE" != "headless" ]] && DOCKER_DISPLAY_ARGS=(-v /tmp/.X11-unix/:/tmp/.X11-unix -e DISPLAY="$DISPLAY")
+
+docker run -t --privileged --rm --net=host $GPU_FLAG \
+    -v "$MODEL_REPO:/workspace/models" \
+    -v "$DATASET_DIR:/workspace/inputs" \
+    -v "$EXPERIMENT_DIR:/workspace/experiments" \
+    "${DOCKER_DISPLAY_ARGS[@]}" \
+    -w /workspace/experiments \
+    "${DEEPSTREAM_IMAGE:-nvcr.io/nvidia/deepstream:9.1-triton-multiarch}" \
+    deepstream-test5-app -c config_deepstream.txt
+
+echo "Done. Artifacts under $EXPERIMENT_DIR (outVideos/tiled_display_raw.mp4, tracker-kitti-dump/)"

src/apps/reference_apps/deepstream-tracker-3d-multi-view/scripts/setup_prerequisites.sh

@@ -53,7 +53,7 @@ export DEEPSTREAM_IMAGE="${DEEPSTREAM_IMAGE:-nvcr.io/nvidia/deepstream:9.1-trito
 REPO_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
 BASE_DIR=${BASE_DIR:-$HOME}
 USE_INFERENCE_BUILDER=${USE_INFERENCE_BUILDER:-false}
-KAFKA_VERSION="4.2.0"
+KAFKA_VERSION="4.2.1"
 SCALA_VERSION="2.13"
 
 # Standardized paths