import copy import base64 import datetime import hashlib import itertools import json import logging import os import queue import threading import time from collections import Counter, defaultdict from statistics import mean, median from typing import Callable, Dict import cv2 import matplotlib.pyplot as plt import numpy as np from frigate.config import FrigateConfig, CameraConfig from frigate.const import RECORD_DIR, CLIPS_DIR, CACHE_DIR from frigate.edgetpu import load_labels from frigate.util import SharedMemoryFrameManager, draw_box_with_label, calculate_region logger = logging.getLogger(__name__) PATH_TO_LABELS = "/labelmap.txt" LABELS = load_labels(PATH_TO_LABELS) cmap = plt.cm.get_cmap("tab10", len(LABELS.keys())) COLOR_MAP = {} for key, val in LABELS.items(): COLOR_MAP[val] = tuple(int(round(255 * c)) for c in cmap(key)[:3]) def on_edge(box, frame_shape): if ( box[0] == 0 or box[1] == 0 or box[2] == frame_shape[1] - 1 or box[3] == frame_shape[0] - 1 ): return True def is_better_thumbnail(current_thumb, new_obj, frame_shape) -> bool: # larger is better # cutoff images are less ideal, but they should also be smaller? # better scores are obviously better too # if the new_thumb is on an edge, and the current thumb is not if on_edge(new_obj["box"], frame_shape) and not on_edge( current_thumb["box"], frame_shape ): return False # if the score is better by more than 5% if new_obj["score"] > current_thumb["score"] + 0.05: return True # if the area is 10% larger if new_obj["area"] > current_thumb["area"] * 1.1: return True return False class TrackedObject: def __init__(self, camera, camera_config: CameraConfig, frame_cache, obj_data): self.obj_data = obj_data self.camera = camera self.camera_config = camera_config self.frame_cache = frame_cache self.current_zones = [] self.entered_zones = set() self.false_positive = True self.top_score = self.computed_score = 0.0 self.thumbnail_data = None self.last_updated = 0 self.last_published = 0 self.frame = None self.previous = self.to_dict() # start the score history self.score_history = [self.obj_data["score"]] def _is_false_positive(self): # once a true positive, always a true positive if not self.false_positive: return False threshold = self.camera_config.objects.filters[self.obj_data["label"]].threshold if self.computed_score < threshold: return True return False def compute_score(self): scores = self.score_history[:] # pad with zeros if you dont have at least 3 scores if len(scores) < 3: scores += [0.0] * (3 - len(scores)) return median(scores) def update(self, current_frame_time, obj_data): significant_update = False self.obj_data.update(obj_data) # if the object is not in the current frame, add a 0.0 to the score history if self.obj_data["frame_time"] != current_frame_time: self.score_history.append(0.0) else: self.score_history.append(self.obj_data["score"]) # only keep the last 10 scores if len(self.score_history) > 10: self.score_history = self.score_history[-10:] # calculate if this is a false positive self.computed_score = self.compute_score() if self.computed_score > self.top_score: self.top_score = self.computed_score self.false_positive = self._is_false_positive() if not self.false_positive: # determine if this frame is a better thumbnail if self.thumbnail_data is None or is_better_thumbnail( self.thumbnail_data, self.obj_data, self.camera_config.frame_shape ): self.thumbnail_data = { "frame_time": self.obj_data["frame_time"], "box": self.obj_data["box"], "area": self.obj_data["area"], "region": self.obj_data["region"], "score": self.obj_data["score"], } significant_update = True # check zones current_zones = [] bottom_center = (self.obj_data["centroid"][0], self.obj_data["box"][3]) # check each zone for name, zone in self.camera_config.zones.items(): contour = zone.contour # check if the object is in the zone if cv2.pointPolygonTest(contour, bottom_center, False) >= 0: # if the object passed the filters once, dont apply again if name in self.current_zones or not zone_filtered(self, zone.filters): current_zones.append(name) self.entered_zones.add(name) # if the zones changed, signal an update if not self.false_positive and set(self.current_zones) != set(current_zones): significant_update = True self.current_zones = current_zones return significant_update def to_dict(self, include_thumbnail: bool = False): return { "id": self.obj_data["id"], "camera": self.camera, "frame_time": self.obj_data["frame_time"], "label": self.obj_data["label"], "top_score": self.top_score, "false_positive": self.false_positive, "start_time": self.obj_data["start_time"], "end_time": self.obj_data.get("end_time", None), "score": self.obj_data["score"], "box": self.obj_data["box"], "area": self.obj_data["area"], "region": self.obj_data["region"], "current_zones": self.current_zones.copy(), "entered_zones": list(self.entered_zones).copy(), "thumbnail": base64.b64encode(self.get_thumbnail()).decode("utf-8") if include_thumbnail else None, } def get_thumbnail(self): if ( self.thumbnail_data is None or not self.thumbnail_data["frame_time"] in self.frame_cache ): ret, jpg = cv2.imencode(".jpg", np.zeros((175, 175, 3), np.uint8)) jpg_bytes = self.get_jpg_bytes( timestamp=False, bounding_box=False, crop=True, height=175 ) if jpg_bytes: return jpg_bytes else: ret, jpg = cv2.imencode(".jpg", np.zeros((175, 175, 3), np.uint8)) return jpg.tobytes() def get_jpg_bytes( self, timestamp=False, bounding_box=False, crop=False, height=None ): if self.thumbnail_data is None: return None try: best_frame = cv2.cvtColor( self.frame_cache[self.thumbnail_data["frame_time"]], cv2.COLOR_YUV2BGR_I420, ) except KeyError: logger.warning( f"Unable to create jpg because frame {self.thumbnail_data['frame_time']} is not in the cache" ) return None if bounding_box: thickness = 2 color = COLOR_MAP[self.obj_data["label"]] # draw the bounding boxes on the frame box = self.thumbnail_data["box"] draw_box_with_label( best_frame, box[0], box[1], box[2], box[3], self.obj_data["label"], f"{int(self.thumbnail_data['score']*100)}% {int(self.thumbnail_data['area'])}", thickness=thickness, color=color, ) if crop: box = self.thumbnail_data["box"] region = calculate_region( best_frame.shape, box[0], box[1], box[2], box[3], 1.1 ) best_frame = best_frame[region[1] : region[3], region[0] : region[2]] if height: width = int(height * best_frame.shape[1] / best_frame.shape[0]) best_frame = cv2.resize( best_frame, dsize=(width, height), interpolation=cv2.INTER_AREA ) if timestamp: time_to_show = datetime.datetime.fromtimestamp( self.thumbnail_data["frame_time"] ).strftime("%m/%d/%Y %H:%M:%S") size = cv2.getTextSize( time_to_show, cv2.FONT_HERSHEY_SIMPLEX, fontScale=1, thickness=2 ) text_width = size[0][0] desired_size = max(150, 0.33 * best_frame.shape[1]) font_scale = desired_size / text_width cv2.putText( best_frame, time_to_show, (5, best_frame.shape[0] - 7), cv2.FONT_HERSHEY_SIMPLEX, fontScale=font_scale, color=(255, 255, 255), thickness=2, ) ret, jpg = cv2.imencode(".jpg", best_frame, [int(cv2.IMWRITE_JPEG_QUALITY), 70]) if ret: return jpg.tobytes() else: return None def zone_filtered(obj: TrackedObject, object_config): object_name = obj.obj_data["label"] if object_name in object_config: obj_settings = object_config[object_name] # if the min area is larger than the # detected object, don't add it to detected objects if obj_settings.min_area > obj.obj_data["area"]: return True # if the detected object is larger than the # max area, don't add it to detected objects if obj_settings.max_area < obj.obj_data["area"]: return True # if the score is lower than the threshold, skip if obj_settings.threshold > obj.computed_score: return True return False # Maintains the state of a camera class CameraState: def __init__(self, name, config, frame_manager): self.name = name self.config = config self.camera_config = config.cameras[name] self.frame_manager = frame_manager self.best_objects: Dict[str, TrackedObject] = {} self.object_counts = defaultdict(lambda: 0) self.tracked_objects: Dict[str, TrackedObject] = {} self.frame_cache = {} self.zone_objects = defaultdict(lambda: []) self._current_frame = np.zeros(self.camera_config.frame_shape_yuv, np.uint8) self.current_frame_lock = threading.Lock() self.current_frame_time = 0.0 self.motion_boxes = [] self.regions = [] self.previous_frame_id = None self.callbacks = defaultdict(lambda: []) def get_current_frame(self, draw_options={}): with self.current_frame_lock: frame_copy = np.copy(self._current_frame) frame_time = self.current_frame_time tracked_objects = {k: v.to_dict() for k, v in self.tracked_objects.items()} motion_boxes = self.motion_boxes.copy() regions = self.regions.copy() frame_copy = cv2.cvtColor(frame_copy, cv2.COLOR_YUV2BGR_I420) # draw on the frame if draw_options.get("bounding_boxes"): # draw the bounding boxes on the frame for obj in tracked_objects.values(): thickness = 2 color = COLOR_MAP[obj["label"]] if obj["frame_time"] != frame_time: thickness = 1 color = (255, 0, 0) # draw the bounding boxes on the frame box = obj["box"] draw_box_with_label( frame_copy, box[0], box[1], box[2], box[3], obj["label"], f"{int(obj['score']*100)}% {int(obj['area'])}", thickness=thickness, color=color, ) if draw_options.get("regions"): for region in regions: cv2.rectangle( frame_copy, (region[0], region[1]), (region[2], region[3]), (0, 255, 0), 2, ) if draw_options.get("zones"): for name, zone in self.camera_config.zones.items(): thickness = ( 8 if any( [ name in obj["current_zones"] for obj in tracked_objects.values() ] ) else 2 ) cv2.drawContours(frame_copy, [zone.contour], -1, zone.color, thickness) if draw_options.get("mask"): mask_overlay = np.where(self.camera_config.motion.mask == [0]) frame_copy[mask_overlay] = [0, 0, 0] if draw_options.get("motion_boxes"): for m_box in motion_boxes: cv2.rectangle( frame_copy, (m_box[0], m_box[1]), (m_box[2], m_box[3]), (0, 0, 255), 2, ) if draw_options.get("timestamp"): time_to_show = datetime.datetime.fromtimestamp(frame_time).strftime( "%m/%d/%Y %H:%M:%S" ) cv2.putText( frame_copy, time_to_show, (10, 30), cv2.FONT_HERSHEY_SIMPLEX, fontScale=0.8, color=(255, 255, 255), thickness=2, ) return frame_copy def finished(self, obj_id): del self.tracked_objects[obj_id] def on(self, event_type: str, callback: Callable[[Dict], None]): self.callbacks[event_type].append(callback) def update(self, frame_time, current_detections, motion_boxes, regions): self.current_frame_time = frame_time self.motion_boxes = motion_boxes self.regions = regions # get the new frame frame_id = f"{self.name}{frame_time}" current_frame = self.frame_manager.get( frame_id, self.camera_config.frame_shape_yuv ) current_ids = current_detections.keys() previous_ids = self.tracked_objects.keys() removed_ids = list(set(previous_ids).difference(current_ids)) new_ids = list(set(current_ids).difference(previous_ids)) updated_ids = list(set(current_ids).intersection(previous_ids)) for id in new_ids: new_obj = self.tracked_objects[id] = TrackedObject( self.name, self.camera_config, self.frame_cache, current_detections[id] ) # call event handlers for c in self.callbacks["start"]: c(self.name, new_obj, frame_time) for id in updated_ids: updated_obj = self.tracked_objects[id] significant_update = updated_obj.update(frame_time, current_detections[id]) if significant_update: # ensure this frame is stored in the cache if ( updated_obj.thumbnail_data["frame_time"] == frame_time and frame_time not in self.frame_cache ): self.frame_cache[frame_time] = np.copy(current_frame) updated_obj.last_updated = frame_time # if it has been more than 5 seconds since the last publish # and the last update is greater than the last publish if ( frame_time - updated_obj.last_published > 5 and updated_obj.last_updated > updated_obj.last_published ): # call event handlers for c in self.callbacks["update"]: c(self.name, updated_obj, frame_time) updated_obj.last_published = frame_time for id in removed_ids: # publish events to mqtt removed_obj = self.tracked_objects[id] if not "end_time" in removed_obj.obj_data: removed_obj.obj_data["end_time"] = frame_time for c in self.callbacks["end"]: c(self.name, removed_obj, frame_time) # TODO: can i switch to looking this up and only changing when an event ends? # maintain best objects for obj in self.tracked_objects.values(): object_type = obj.obj_data["label"] # if the object's thumbnail is not from the current frame if ( obj.false_positive or obj.thumbnail_data["frame_time"] != self.current_frame_time ): continue if object_type in self.best_objects: current_best = self.best_objects[object_type] now = datetime.datetime.now().timestamp() # if the object is a higher score than the current best score # or the current object is older than desired, use the new object if ( is_better_thumbnail( current_best.thumbnail_data, obj.thumbnail_data, self.camera_config.frame_shape, ) or (now - current_best.thumbnail_data["frame_time"]) > self.camera_config.best_image_timeout ): self.best_objects[object_type] = obj for c in self.callbacks["snapshot"]: c(self.name, self.best_objects[object_type], frame_time) else: self.best_objects[object_type] = obj for c in self.callbacks["snapshot"]: c(self.name, self.best_objects[object_type], frame_time) # update overall camera state for each object type obj_counter = Counter() for obj in self.tracked_objects.values(): if not obj.false_positive: obj_counter[obj.obj_data["label"]] += 1 # report on detected objects for obj_name, count in obj_counter.items(): if count != self.object_counts[obj_name]: self.object_counts[obj_name] = count for c in self.callbacks["object_status"]: c(self.name, obj_name, count) # expire any objects that are >0 and no longer detected expired_objects = [ obj_name for obj_name, count in self.object_counts.items() if count > 0 and not obj_name in obj_counter ] for obj_name in expired_objects: self.object_counts[obj_name] = 0 for c in self.callbacks["object_status"]: c(self.name, obj_name, 0) for c in self.callbacks["snapshot"]: c(self.name, self.best_objects[obj_name], frame_time) # cleanup thumbnail frame cache current_thumb_frames = set( [ obj.thumbnail_data["frame_time"] for obj in self.tracked_objects.values() if not obj.false_positive ] ) current_best_frames = set( [obj.thumbnail_data["frame_time"] for obj in self.best_objects.values()] ) thumb_frames_to_delete = [ t for t in self.frame_cache.keys() if not t in current_thumb_frames and not t in current_best_frames ] for t in thumb_frames_to_delete: del self.frame_cache[t] with self.current_frame_lock: self._current_frame = current_frame if not self.previous_frame_id is None: self.frame_manager.delete(self.previous_frame_id) self.previous_frame_id = frame_id class TrackedObjectProcessor(threading.Thread): def __init__( self, config: FrigateConfig, client, topic_prefix, tracked_objects_queue, event_queue, event_processed_queue, stop_event, ): threading.Thread.__init__(self) self.name = "detected_frames_processor" self.config = config self.client = client self.topic_prefix = topic_prefix self.tracked_objects_queue = tracked_objects_queue self.event_queue = event_queue self.event_processed_queue = event_processed_queue self.stop_event = stop_event self.camera_states: Dict[str, CameraState] = {} self.frame_manager = SharedMemoryFrameManager() def start(camera, obj: TrackedObject, current_frame_time): self.event_queue.put(("start", camera, obj.to_dict())) def update(camera, obj: TrackedObject, current_frame_time): after = obj.to_dict() message = { "before": obj.previous, "after": after, "type": "new" if obj.previous["false_positive"] else "update", } self.client.publish( f"{self.topic_prefix}/events", json.dumps(message), retain=False ) obj.previous = after def end(camera, obj: TrackedObject, current_frame_time): snapshot_config = self.config.cameras[camera].snapshots event_data = obj.to_dict(include_thumbnail=True) event_data["has_snapshot"] = False if not obj.false_positive: message = { "before": obj.previous, "after": obj.to_dict(), "type": "end", } self.client.publish( f"{self.topic_prefix}/events", json.dumps(message), retain=False ) # write snapshot to disk if enabled if snapshot_config.enabled and self.should_save_snapshot(camera, obj): jpg_bytes = obj.get_jpg_bytes( timestamp=snapshot_config.timestamp, bounding_box=snapshot_config.bounding_box, crop=snapshot_config.crop, height=snapshot_config.height, ) if jpg_bytes is None: logger.warning( f"Unable to save snapshot for {obj.obj_data['id']}." ) else: with open( os.path.join( CLIPS_DIR, f"{camera}-{obj.obj_data['id']}.jpg" ), "wb", ) as j: j.write(jpg_bytes) event_data["has_snapshot"] = True self.event_queue.put(("end", camera, event_data)) def snapshot(camera, obj: TrackedObject, current_frame_time): mqtt_config = self.config.cameras[camera].mqtt if mqtt_config.enabled and self.should_mqtt_snapshot(camera, obj): jpg_bytes = obj.get_jpg_bytes( timestamp=mqtt_config.timestamp, bounding_box=mqtt_config.bounding_box, crop=mqtt_config.crop, height=mqtt_config.height, ) if jpg_bytes is None: logger.warning( f"Unable to send mqtt snapshot for {obj.obj_data['id']}." ) else: self.client.publish( f"{self.topic_prefix}/{camera}/{obj.obj_data['label']}/snapshot", jpg_bytes, retain=True, ) def object_status(camera, object_name, status): self.client.publish( f"{self.topic_prefix}/{camera}/{object_name}", status, retain=False ) for camera in self.config.cameras.keys(): camera_state = CameraState(camera, self.config, self.frame_manager) camera_state.on("start", start) camera_state.on("update", update) camera_state.on("end", end) camera_state.on("snapshot", snapshot) camera_state.on("object_status", object_status) self.camera_states[camera] = camera_state # { # 'zone_name': { # 'person': { # 'camera_1': 2, # 'camera_2': 1 # } # } # } self.zone_data = defaultdict(lambda: defaultdict(lambda: {})) def should_save_snapshot(self, camera, obj: TrackedObject): # if there are required zones and there is no overlap required_zones = self.config.cameras[camera].snapshots.required_zones if len(required_zones) > 0 and not obj.entered_zones & set(required_zones): logger.debug( f"Not creating snapshot for {obj.obj_data['id']} because it did not enter required zones" ) return False return True def should_mqtt_snapshot(self, camera, obj: TrackedObject): # if there are required zones and there is no overlap required_zones = self.config.cameras[camera].mqtt.required_zones if len(required_zones) > 0 and not obj.entered_zones & set(required_zones): logger.debug( f"Not sending mqtt for {obj.obj_data['id']} because it did not enter required zones" ) return False return True def get_best(self, camera, label): # TODO: need a lock here camera_state = self.camera_states[camera] if label in camera_state.best_objects: best_obj = camera_state.best_objects[label] best = best_obj.thumbnail_data.copy() best["frame"] = camera_state.frame_cache.get( best_obj.thumbnail_data["frame_time"] ) return best else: return {} def get_current_frame(self, camera, draw_options={}): return self.camera_states[camera].get_current_frame(draw_options) def run(self): while True: if self.stop_event.is_set(): logger.info(f"Exiting object processor...") break try: ( camera, frame_time, current_tracked_objects, motion_boxes, regions, ) = self.tracked_objects_queue.get(True, 10) except queue.Empty: continue camera_state = self.camera_states[camera] camera_state.update( frame_time, current_tracked_objects, motion_boxes, regions ) # update zone counts for each label # for each zone in the current camera for zone in self.config.cameras[camera].zones.keys(): # count labels for the camera in the zone obj_counter = Counter() for obj in camera_state.tracked_objects.values(): if zone in obj.current_zones and not obj.false_positive: obj_counter[obj.obj_data["label"]] += 1 # update counts and publish status for label in set( list(self.zone_data[zone].keys()) + list(obj_counter.keys()) ): # if we have previously published a count for this zone/label zone_label = self.zone_data[zone][label] if camera in zone_label: current_count = sum(zone_label.values()) zone_label[camera] = ( obj_counter[label] if label in obj_counter else 0 ) new_count = sum(zone_label.values()) if new_count != current_count: self.client.publish( f"{self.topic_prefix}/{zone}/{label}", new_count, retain=False, ) # if this is a new zone/label combo for this camera else: if label in obj_counter: zone_label[camera] = obj_counter[label] self.client.publish( f"{self.topic_prefix}/{zone}/{label}", obj_counter[label], retain=False, ) # cleanup event finished queue while not self.event_processed_queue.empty(): event_id, camera = self.event_processed_queue.get() self.camera_states[camera].finished(event_id)