import datetime import glob import logging import math import multiprocessing as mp import os import queue import signal import subprocess as sp import threading import traceback from wsgiref.simple_server import make_server import cv2 import numpy as np from setproctitle import setproctitle from ws4py.server.wsgirefserver import ( WebSocketWSGIHandler, WebSocketWSGIRequestHandler, WSGIServer, ) from ws4py.server.wsgiutils import WebSocketWSGIApplication from ws4py.websocket import WebSocket from frigate.config import BirdseyeModeEnum, FrigateConfig from frigate.const import BASE_DIR, BIRDSEYE_PIPE from frigate.util.image import ( SharedMemoryFrameManager, copy_yuv_to_position, get_yuv_crop, ) logger = logging.getLogger(__name__) def get_standard_aspect_ratio(width: int, height: int) -> tuple[int, int]: """Ensure that only standard aspect ratios are used.""" known_aspects = [ (16, 9), (9, 16), (32, 9), (12, 9), (9, 12), ] # aspects are scaled to have common relative size known_aspects_ratios = list( map(lambda aspect: aspect[0] / aspect[1], known_aspects) ) closest = min( known_aspects_ratios, key=lambda x: abs(x - (width / height)), ) return known_aspects[known_aspects_ratios.index(closest)] def get_canvas_shape(width: int, height: int) -> tuple[int, int]: """Get birdseye canvas shape.""" canvas_width = width canvas_height = height a_w, a_h = get_standard_aspect_ratio(width, height) if round(a_w / a_h, 2) != round(width / height, 2): canvas_width = width canvas_height = int((canvas_width / a_w) * a_h) logger.warning( f"The birdseye resolution is a non-standard aspect ratio, forcing birdseye resolution to {canvas_width} x {canvas_height}" ) return (canvas_width, canvas_height) class Canvas: def __init__(self, canvas_width: int, canvas_height: int) -> None: gcd = math.gcd(canvas_width, canvas_height) self.aspect = get_standard_aspect_ratio( (canvas_width / gcd), (canvas_height / gcd) ) self.width = canvas_width self.height = (self.width * self.aspect[1]) / self.aspect[0] self.coefficient_cache: dict[int, int] = {} self.aspect_cache: dict[str, tuple[int, int]] = {} def get_aspect(self, coefficient: int) -> tuple[int, int]: return (self.aspect[0] * coefficient, self.aspect[1] * coefficient) def get_coefficient(self, camera_count: int) -> int: return self.coefficient_cache.get(camera_count, 2) def set_coefficient(self, camera_count: int, coefficient: int) -> None: self.coefficient_cache[camera_count] = coefficient def get_camera_aspect( self, cam_name: str, camera_width: int, camera_height: int ) -> tuple[int, int]: cached = self.aspect_cache.get(cam_name) if cached: return cached gcd = math.gcd(camera_width, camera_height) camera_aspect = get_standard_aspect_ratio( camera_width / gcd, camera_height / gcd ) self.aspect_cache[cam_name] = camera_aspect return camera_aspect class FFMpegConverter: def __init__( self, in_width: int, in_height: int, out_width: int, out_height: int, quality: int, birdseye_rtsp: bool = False, ): self.bd_pipe = None if birdseye_rtsp: self.recreate_birdseye_pipe() ffmpeg_cmd = [ "ffmpeg", "-f", "rawvideo", "-pix_fmt", "yuv420p", "-video_size", f"{in_width}x{in_height}", "-i", "pipe:", "-f", "mpegts", "-s", f"{out_width}x{out_height}", "-codec:v", "mpeg1video", "-q", f"{quality}", "-bf", "0", "pipe:", ] self.process = sp.Popen( ffmpeg_cmd, stdout=sp.PIPE, stderr=sp.DEVNULL, stdin=sp.PIPE, start_new_session=True, ) def recreate_birdseye_pipe(self) -> None: if self.bd_pipe: os.close(self.bd_pipe) if os.path.exists(BIRDSEYE_PIPE): os.remove(BIRDSEYE_PIPE) os.mkfifo(BIRDSEYE_PIPE, mode=0o777) stdin = os.open(BIRDSEYE_PIPE, os.O_RDONLY | os.O_NONBLOCK) self.bd_pipe = os.open(BIRDSEYE_PIPE, os.O_WRONLY) os.close(stdin) self.reading_birdseye = False def write(self, b) -> None: self.process.stdin.write(b) if self.bd_pipe: try: os.write(self.bd_pipe, b) self.reading_birdseye = True except BrokenPipeError: if self.reading_birdseye: # we know the pipe was being read from and now it is not # so we should recreate the pipe to ensure no partially-read # frames exist logger.debug( "Recreating the birdseye pipe because it was read from and now is not" ) self.recreate_birdseye_pipe() return def read(self, length): try: return self.process.stdout.read1(length) except ValueError: return False def exit(self): if self.bd_pipe: os.close(self.bd_pipe) self.process.terminate() try: self.process.communicate(timeout=30) except sp.TimeoutExpired: self.process.kill() self.process.communicate() class BroadcastThread(threading.Thread): def __init__(self, camera, converter, websocket_server, stop_event): super(BroadcastThread, self).__init__() self.camera = camera self.converter = converter self.websocket_server = websocket_server self.stop_event = stop_event def run(self): while not self.stop_event.is_set(): buf = self.converter.read(65536) if buf: manager = self.websocket_server.manager with manager.lock: websockets = manager.websockets.copy() ws_iter = iter(websockets.values()) for ws in ws_iter: if ( not ws.terminated and ws.environ["PATH_INFO"] == f"/{self.camera}" ): try: ws.send(buf, binary=True) except ValueError: pass except (BrokenPipeError, ConnectionResetError) as e: logger.debug(f"Websocket unexpectedly closed {e}") elif self.converter.process.poll() is not None: break class BirdsEyeFrameManager: def __init__( self, config: FrigateConfig, frame_manager: SharedMemoryFrameManager, stop_event: mp.Event, ): self.config = config self.mode = config.birdseye.mode self.frame_manager = frame_manager width, height = get_canvas_shape(config.birdseye.width, config.birdseye.height) self.frame_shape = (height, width) self.yuv_shape = (height * 3 // 2, width) self.frame = np.ndarray(self.yuv_shape, dtype=np.uint8) self.canvas = Canvas(width, height) self.stop_event = stop_event # initialize the frame as black and with the Frigate logo self.blank_frame = np.zeros(self.yuv_shape, np.uint8) self.blank_frame[:] = 128 self.blank_frame[0 : self.frame_shape[0], 0 : self.frame_shape[1]] = 16 # find and copy the logo on the blank frame birdseye_logo = None custom_logo_files = glob.glob(f"{BASE_DIR}/custom.png") if len(custom_logo_files) > 0: birdseye_logo = cv2.imread(custom_logo_files[0], cv2.IMREAD_UNCHANGED) if birdseye_logo is None: logo_files = glob.glob("/opt/frigate/frigate/images/birdseye.png") if len(logo_files) > 0: birdseye_logo = cv2.imread(logo_files[0], cv2.IMREAD_UNCHANGED) if birdseye_logo is not None: transparent_layer = birdseye_logo[:, :, 3] y_offset = height // 2 - transparent_layer.shape[0] // 2 x_offset = width // 2 - transparent_layer.shape[1] // 2 self.blank_frame[ y_offset : y_offset + transparent_layer.shape[1], x_offset : x_offset + transparent_layer.shape[0], ] = transparent_layer else: logger.warning("Unable to read Frigate logo") self.frame[:] = self.blank_frame self.cameras = {} for camera, settings in self.config.cameras.items(): # precalculate the coordinates for all the channels y, u1, u2, v1, v2 = get_yuv_crop( settings.frame_shape_yuv, ( 0, 0, settings.frame_shape[1], settings.frame_shape[0], ), ) self.cameras[camera] = { "dimensions": [settings.detect.width, settings.detect.height], "last_active_frame": 0.0, "current_frame": 0.0, "layout_frame": 0.0, "channel_dims": { "y": y, "u1": u1, "u2": u2, "v1": v1, "v2": v2, }, } self.camera_layout = [] self.active_cameras = set() self.last_output_time = 0.0 def clear_frame(self): logger.debug("Clearing the birdseye frame") self.frame[:] = self.blank_frame def copy_to_position(self, position, camera=None, frame_time=None): if camera is None: frame = None channel_dims = None else: try: frame = self.frame_manager.get( f"{camera}{frame_time}", self.config.cameras[camera].frame_shape_yuv ) except FileNotFoundError: # TODO: better frame management would prevent this edge case logger.warning( f"Unable to copy frame {camera}{frame_time} to birdseye." ) return channel_dims = self.cameras[camera]["channel_dims"] copy_yuv_to_position( self.frame, [position[1], position[0]], [position[3], position[2]], frame, channel_dims, ) def camera_active(self, mode, object_box_count, motion_box_count): if mode == BirdseyeModeEnum.continuous: return True if mode == BirdseyeModeEnum.motion and motion_box_count > 0: return True if mode == BirdseyeModeEnum.objects and object_box_count > 0: return True def update_frame(self): """Update to a new frame for birdseye.""" # determine how many cameras are tracking objects within the last 30 seconds active_cameras = set( [ cam for cam, cam_data in self.cameras.items() if cam_data["last_active_frame"] > 0 and cam_data["current_frame"] - cam_data["last_active_frame"] < 30 ] ) # if there are no active cameras if len(active_cameras) == 0: # if the layout is already cleared if len(self.camera_layout) == 0: return False # if the layout needs to be cleared else: self.camera_layout = [] self.active_cameras = set() self.clear_frame() return True # check if we need to reset the layout because there is a different number of cameras reset_layout = len(self.active_cameras) - len(active_cameras) != 0 # reset the layout if it needs to be different if reset_layout: logger.debug("Added new cameras, resetting layout...") self.clear_frame() self.active_cameras = active_cameras # this also converts added_cameras from a set to a list since we need # to pop elements in order active_cameras_to_add = sorted( active_cameras, # sort cameras by order and by name if the order is the same key=lambda active_camera: ( self.config.cameras[active_camera].birdseye.order, active_camera, ), ) if len(active_cameras) == 1: # show single camera as fullscreen camera = active_cameras_to_add[0] camera_dims = self.cameras[camera]["dimensions"].copy() scaled_width = int(self.canvas.height * camera_dims[0] / camera_dims[1]) coefficient = ( 1 if scaled_width <= self.canvas.width else self.canvas.width / scaled_width ) self.camera_layout = [ [ ( camera, ( 0, 0, int(scaled_width * coefficient), int(self.canvas.height * coefficient), ), ) ] ] else: # calculate optimal layout coefficient = self.canvas.get_coefficient(len(active_cameras)) calculating = True # decrease scaling coefficient until height of all cameras can fit into the birdseye canvas while calculating: if self.stop_event.is_set(): return layout_candidate = self.calculate_layout( active_cameras_to_add, coefficient, ) if not layout_candidate: if coefficient < 10: coefficient += 1 continue else: logger.error("Error finding appropriate birdseye layout") return calculating = False self.canvas.set_coefficient(len(active_cameras), coefficient) self.camera_layout = layout_candidate for row in self.camera_layout: for position in row: self.copy_to_position( position[1], position[0], self.cameras[position[0]]["current_frame"] ) return True def calculate_layout(self, cameras_to_add: list[str], coefficient) -> tuple[any]: """Calculate the optimal layout for 2+ cameras.""" def map_layout(row_height: int): """Map the calculated layout.""" candidate_layout = [] starting_x = 0 x = 0 max_width = 0 y = 0 for row in camera_layout: final_row = [] max_width = max(max_width, x) x = starting_x for cameras in row: camera_dims = self.cameras[cameras[0]]["dimensions"].copy() camera_aspect = cameras[1] if camera_dims[1] > camera_dims[0]: scaled_height = int(row_height * 2) scaled_width = int(scaled_height * camera_aspect) starting_x = scaled_width else: scaled_height = row_height scaled_width = int(scaled_height * camera_aspect) # layout is too large if ( x + scaled_width > self.canvas.width or y + scaled_height > self.canvas.height ): return 0, 0, None final_row.append((cameras[0], (x, y, scaled_width, scaled_height))) x += scaled_width y += row_height candidate_layout.append(final_row) return max_width, y, candidate_layout canvas_aspect_x, canvas_aspect_y = self.canvas.get_aspect(coefficient) camera_layout: list[list[any]] = [] camera_layout.append([]) starting_x = 0 x = starting_x y = 0 y_i = 0 max_y = 0 for camera in cameras_to_add: camera_dims = self.cameras[camera]["dimensions"].copy() camera_aspect_x, camera_aspect_y = self.canvas.get_camera_aspect( camera, camera_dims[0], camera_dims[1] ) if camera_dims[1] > camera_dims[0]: portrait = True else: portrait = False if (x + camera_aspect_x) <= canvas_aspect_x: # insert if camera can fit on current row camera_layout[y_i].append( ( camera, camera_aspect_x / camera_aspect_y, ) ) if portrait: starting_x = camera_aspect_x else: max_y = max( max_y, camera_aspect_y, ) x += camera_aspect_x else: # move on to the next row and insert y += max_y y_i += 1 camera_layout.append([]) x = starting_x if x + camera_aspect_x > canvas_aspect_x: return None camera_layout[y_i].append( ( camera, camera_aspect_x / camera_aspect_y, ) ) x += camera_aspect_x if y + max_y > canvas_aspect_y: return None row_height = int(self.canvas.height / coefficient) total_width, total_height, standard_candidate_layout = map_layout(row_height) # layout can't be optimized more if total_width / self.canvas.width >= 0.99: return standard_candidate_layout scale_up_percent = min( 1 - (total_width / self.canvas.width), 1 - (total_height / self.canvas.height), ) row_height = int(row_height * (1 + round(scale_up_percent, 1))) _, _, scaled_layout = map_layout(row_height) if scaled_layout: return scaled_layout else: return standard_candidate_layout def update(self, camera, object_count, motion_count, frame_time, frame) -> bool: # don't process if birdseye is disabled for this camera camera_config = self.config.cameras[camera].birdseye if not camera_config.enabled: return False # update the last active frame for the camera self.cameras[camera]["current_frame"] = frame_time if self.camera_active(camera_config.mode, object_count, motion_count): self.cameras[camera]["last_active_frame"] = frame_time now = datetime.datetime.now().timestamp() # limit output to 10 fps if (now - self.last_output_time) < 1 / 10: return False try: updated_frame = self.update_frame() except Exception: updated_frame = False self.active_cameras = [] self.camera_layout = [] print(traceback.format_exc()) # if the frame was updated or the fps is too low, send frame if updated_frame or (now - self.last_output_time) > 1: self.last_output_time = now return True return False def output_frames(config: FrigateConfig, video_output_queue): threading.current_thread().name = "output" setproctitle("frigate.output") stop_event = mp.Event() def receiveSignal(signalNumber, frame): stop_event.set() signal.signal(signal.SIGTERM, receiveSignal) signal.signal(signal.SIGINT, receiveSignal) frame_manager = SharedMemoryFrameManager() previous_frames = {} # start a websocket server on 8082 WebSocketWSGIHandler.http_version = "1.1" websocket_server = make_server( "127.0.0.1", 8082, server_class=WSGIServer, handler_class=WebSocketWSGIRequestHandler, app=WebSocketWSGIApplication(handler_cls=WebSocket), ) websocket_server.initialize_websockets_manager() websocket_thread = threading.Thread(target=websocket_server.serve_forever) converters = {} broadcasters = {} for camera, cam_config in config.cameras.items(): width = int( cam_config.live.height * (cam_config.frame_shape[1] / cam_config.frame_shape[0]) ) converters[camera] = FFMpegConverter( cam_config.frame_shape[1], cam_config.frame_shape[0], width, cam_config.live.height, cam_config.live.quality, ) broadcasters[camera] = BroadcastThread( camera, converters[camera], websocket_server, stop_event ) if config.birdseye.enabled: converters["birdseye"] = FFMpegConverter( config.birdseye.width, config.birdseye.height, config.birdseye.width, config.birdseye.height, config.birdseye.quality, config.birdseye.restream, ) broadcasters["birdseye"] = BroadcastThread( "birdseye", converters["birdseye"], websocket_server, stop_event ) websocket_thread.start() for t in broadcasters.values(): t.start() birdseye_manager = BirdsEyeFrameManager(config, frame_manager, stop_event) if config.birdseye.restream: birdseye_buffer = frame_manager.create( "birdseye", birdseye_manager.yuv_shape[0] * birdseye_manager.yuv_shape[1], ) while not stop_event.is_set(): try: ( camera, frame_time, current_tracked_objects, motion_boxes, regions, ) = video_output_queue.get(True, 1) except queue.Empty: continue frame_id = f"{camera}{frame_time}" frame = frame_manager.get(frame_id, config.cameras[camera].frame_shape_yuv) # send camera frame to ffmpeg process if websockets are connected if any( ws.environ["PATH_INFO"].endswith(camera) for ws in websocket_server.manager ): # write to the converter for the camera if clients are listening to the specific camera converters[camera].write(frame.tobytes()) if config.birdseye.enabled and ( config.birdseye.restream or any( ws.environ["PATH_INFO"].endswith("birdseye") for ws in websocket_server.manager ) ): if birdseye_manager.update( camera, len([o for o in current_tracked_objects if not o["stationary"]]), len(motion_boxes), frame_time, frame, ): frame_bytes = birdseye_manager.frame.tobytes() if config.birdseye.restream: birdseye_buffer[:] = frame_bytes converters["birdseye"].write(frame_bytes) if camera in previous_frames: frame_manager.delete(f"{camera}{previous_frames[camera]}") previous_frames[camera] = frame_time while not video_output_queue.empty(): ( camera, frame_time, current_tracked_objects, motion_boxes, regions, ) = video_output_queue.get(True, 10) frame_id = f"{camera}{frame_time}" frame = frame_manager.get(frame_id, config.cameras[camera].frame_shape_yuv) frame_manager.delete(frame_id) for c in converters.values(): c.exit() for b in broadcasters.values(): b.join() websocket_server.manager.close_all() websocket_server.manager.stop() websocket_server.manager.join() websocket_server.shutdown() websocket_thread.join() logger.info("exiting output process...")