import datetime import json import logging import os import queue import threading from collections import Counter, defaultdict from multiprocessing.synchronize import Event as MpEvent from typing import Callable import cv2 import numpy as np from frigate.comms.detections_updater import DetectionPublisher, DetectionTypeEnum from frigate.comms.dispatcher import Dispatcher from frigate.comms.events_updater import EventEndSubscriber, EventUpdatePublisher from frigate.comms.inter_process import InterProcessRequestor from frigate.config import ( FrigateConfig, MqttConfig, RecordConfig, SnapshotsConfig, ZoomingModeEnum, ) from frigate.const import CLIPS_DIR, UPDATE_CAMERA_ACTIVITY from frigate.events.types import EventStateEnum, EventTypeEnum from frigate.ptz.autotrack import PtzAutoTrackerThread from frigate.track.tracked_object import TrackedObject from frigate.util.image import ( SharedMemoryFrameManager, draw_box_with_label, draw_timestamp, is_better_thumbnail, is_label_printable, ) logger = logging.getLogger(__name__) # Maintains the state of a camera class CameraState: def __init__( self, name, config: FrigateConfig, frame_manager: SharedMemoryFrameManager, ptz_autotracker_thread: PtzAutoTrackerThread, ): 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(int) self.active_object_counts = defaultdict(int) self.tracked_objects: dict[str, TrackedObject] = {} self.frame_cache = {} self.zone_objects = defaultdict(list) 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(list) self.ptz_autotracker_thread = ptz_autotracker_thread 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("mask"): mask_overlay = np.where(self.camera_config.motion.mask == [0]) frame_copy[mask_overlay] = [0, 0, 0] if draw_options.get("bounding_boxes"): # draw the bounding boxes on the frame for obj in tracked_objects.values(): if obj["frame_time"] == frame_time: if obj["stationary"]: color = (220, 220, 220) thickness = 1 else: thickness = 2 color = self.config.model.colormap[obj["label"]] else: thickness = 1 color = (255, 0, 0) # draw thicker box around ptz autotracked object if ( self.camera_config.onvif.autotracking.enabled and self.ptz_autotracker_thread.ptz_autotracker.autotracker_init[ self.name ] and self.ptz_autotracker_thread.ptz_autotracker.tracked_object[ self.name ] is not None and obj["id"] == self.ptz_autotracker_thread.ptz_autotracker.tracked_object[ self.name ].obj_data["id"] and obj["frame_time"] == frame_time ): thickness = 5 color = self.config.model.colormap[obj["label"]] # debug autotracking zooming - show the zoom factor box if ( self.camera_config.onvif.autotracking.zooming != ZoomingModeEnum.disabled ): max_target_box = self.ptz_autotracker_thread.ptz_autotracker.tracked_object_metrics[ self.name ]["max_target_box"] side_length = max_target_box * ( max( self.camera_config.detect.width, self.camera_config.detect.height, ) ) centroid_x = (obj["box"][0] + obj["box"][2]) // 2 centroid_y = (obj["box"][1] + obj["box"][3]) // 2 top_left = ( int(centroid_x - side_length // 2), int(centroid_y - side_length // 2), ) bottom_right = ( int(centroid_x + side_length // 2), int(centroid_y + side_length // 2), ) cv2.rectangle( frame_copy, top_left, bottom_right, (255, 255, 0), 2, ) # draw the bounding boxes on the frame box = obj["box"] text = ( obj["label"] if ( not obj.get("sub_label") or not is_label_printable(obj["sub_label"][0]) ) else obj["sub_label"][0] ) draw_box_with_label( frame_copy, box[0], box[1], box[2], box[3], text, f"{obj['score']:.0%} {int(obj['area'])}", thickness=thickness, color=color, ) # draw any attributes for attribute in obj["current_attributes"]: box = attribute["box"] draw_box_with_label( frame_copy, box[0], box[1], box[2], box[3], attribute["label"], f"{attribute['score']:.0%}", 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("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"): color = self.camera_config.timestamp_style.color draw_timestamp( frame_copy, frame_time, self.camera_config.timestamp_style.format, font_effect=self.camera_config.timestamp_style.effect, font_thickness=self.camera_config.timestamp_style.thickness, font_color=(color.blue, color.green, color.red), position=self.camera_config.timestamp_style.position, ) 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): # 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 ) if current_frame is None: logger.debug(f"Failed to get frame {frame_id} from SHM") tracked_objects = self.tracked_objects.copy() current_ids = set(current_detections.keys()) previous_ids = set(tracked_objects.keys()) removed_ids = previous_ids.difference(current_ids) new_ids = current_ids.difference(previous_ids) updated_ids = current_ids.intersection(previous_ids) for id in new_ids: new_obj = tracked_objects[id] = TrackedObject( self.config.model, 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 = tracked_objects[id] thumb_update, significant_update, autotracker_update = updated_obj.update( frame_time, current_detections[id], current_frame is not None ) if autotracker_update or significant_update: for c in self.callbacks["autotrack"]: c(self.name, updated_obj, frame_time) if thumb_update and current_frame is not None: # 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 thumb update # and the last update is greater than the last publish or # the object has changed significantly if ( frame_time - updated_obj.last_published > 5 and updated_obj.last_updated > updated_obj.last_published ) or significant_update: # 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 = tracked_objects[id] if "end_time" not 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 camera_activity: dict[str, list[any]] = { "motion": len(motion_boxes) > 0, "objects": [], } for obj in tracked_objects.values(): object_type = obj.obj_data["label"] active = obj.is_active() if not obj.false_positive: label = object_type sub_label = None if obj.obj_data.get("sub_label"): if ( obj.obj_data.get("sub_label")[0] in self.config.model.all_attributes ): label = obj.obj_data["sub_label"][0] else: label = f"{object_type}-verified" sub_label = obj.obj_data["sub_label"][0] camera_activity["objects"].append( { "id": obj.obj_data["id"], "label": label, "stationary": not active, "area": obj.obj_data["area"], "ratio": obj.obj_data["ratio"], "score": obj.obj_data["score"], "sub_label": sub_label, } ) # if we don't have access to the current frame or # if the object's thumbnail is not from the current frame, skip if ( current_frame is None or obj.thumbnail_data is None or obj.false_positive or obj.thumbnail_data["frame_time"] != 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( object_type, 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) for c in self.callbacks["camera_activity"]: c(self.name, camera_activity) # update overall camera state for each object type obj_counter = Counter( obj.obj_data["label"] for obj in tracked_objects.values() if not obj.false_positive ) active_obj_counter = Counter( obj.obj_data["label"] for obj in tracked_objects.values() if not obj.false_positive and obj.active ) # keep track of all labels detected for this camera total_label_count = 0 total_active_label_count = 0 # report on all detected objects for obj_name, count in obj_counter.items(): total_label_count += count 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) # update the active count on all detected objects # To ensure we emit 0's if all objects are stationary, we need to loop # over the set of all objects, not just active ones. for obj_name in set(obj_counter): count = active_obj_counter[obj_name] total_active_label_count += count if count != self.active_object_counts[obj_name]: self.active_object_counts[obj_name] = count for c in self.callbacks["active_object_status"]: c(self.name, obj_name, count) # publish for all labels detected for this camera if total_label_count != self.object_counts.get("all"): self.object_counts["all"] = total_label_count for c in self.callbacks["object_status"]: c(self.name, "all", total_label_count) # publish active label counts for this camera if total_active_label_count != self.active_object_counts.get("all"): self.active_object_counts["all"] = total_active_label_count for c in self.callbacks["active_object_status"]: c(self.name, "all", total_active_label_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 obj_name not in obj_counter ] for obj_name in expired_objects: # Ignore the artificial all label if obj_name == "all": continue self.object_counts[obj_name] = 0 for c in self.callbacks["object_status"]: c(self.name, obj_name, 0) # Only publish if the object was previously active. if self.active_object_counts[obj_name] > 0: for c in self.callbacks["active_object_status"]: c(self.name, obj_name, 0) self.active_object_counts[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 = { obj.thumbnail_data["frame_time"] for obj in tracked_objects.values() if not obj.false_positive and obj.thumbnail_data is not None } current_best_frames = { 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 t not in current_thumb_frames and t not in current_best_frames ] for t in thumb_frames_to_delete: del self.frame_cache[t] with self.current_frame_lock: self.tracked_objects = tracked_objects self.motion_boxes = motion_boxes self.regions = regions if current_frame is not None: self.current_frame_time = frame_time self._current_frame = current_frame if self.previous_frame_id is not None: self.frame_manager.close(self.previous_frame_id) self.previous_frame_id = frame_id class TrackedObjectProcessor(threading.Thread): def __init__( self, config: FrigateConfig, dispatcher: Dispatcher, tracked_objects_queue, ptz_autotracker_thread, stop_event, ): super().__init__(name="detected_frames_processor") self.config = config self.dispatcher = dispatcher self.tracked_objects_queue = tracked_objects_queue self.stop_event: MpEvent = stop_event self.camera_states: dict[str, CameraState] = {} self.frame_manager = SharedMemoryFrameManager() self.last_motion_detected: dict[str, float] = {} self.ptz_autotracker_thread = ptz_autotracker_thread self.requestor = InterProcessRequestor() self.detection_publisher = DetectionPublisher(DetectionTypeEnum.video) self.event_sender = EventUpdatePublisher() self.event_end_subscriber = EventEndSubscriber() self.camera_activity: dict[str, dict[str, any]] = {} # { # 'zone_name': { # 'person': { # 'camera_1': 2, # 'camera_2': 1 # } # } # } self.zone_data = defaultdict(lambda: defaultdict(dict)) self.active_zone_data = defaultdict(lambda: defaultdict(dict)) def start(camera, obj: TrackedObject, current_frame_time): self.event_sender.publish( ( EventTypeEnum.tracked_object, EventStateEnum.start, camera, obj.to_dict(), ) ) def update(camera, obj: TrackedObject, current_frame_time): obj.has_snapshot = self.should_save_snapshot(camera, obj) obj.has_clip = self.should_retain_recording(camera, obj) after = obj.to_dict() message = { "before": obj.previous, "after": after, "type": "new" if obj.previous["false_positive"] else "update", } self.dispatcher.publish("events", json.dumps(message), retain=False) obj.previous = after self.event_sender.publish( ( EventTypeEnum.tracked_object, EventStateEnum.update, camera, obj.to_dict(include_thumbnail=True), ) ) def autotrack(camera, obj: TrackedObject, current_frame_time): self.ptz_autotracker_thread.ptz_autotracker.autotrack_object(camera, obj) def end(camera, obj: TrackedObject, current_frame_time): # populate has_snapshot obj.has_snapshot = self.should_save_snapshot(camera, obj) obj.has_clip = self.should_retain_recording(camera, obj) # write the snapshot to disk if obj.has_snapshot: snapshot_config: SnapshotsConfig = self.config.cameras[camera].snapshots jpg_bytes = obj.get_jpg_bytes( timestamp=snapshot_config.timestamp, bounding_box=snapshot_config.bounding_box, crop=snapshot_config.crop, height=snapshot_config.height, quality=snapshot_config.quality, ) 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) # write clean snapshot if enabled if snapshot_config.clean_copy: png_bytes = obj.get_clean_png() if png_bytes is None: logger.warning( f"Unable to save clean snapshot for {obj.obj_data['id']}." ) else: with open( os.path.join( CLIPS_DIR, f"{camera}-{obj.obj_data['id']}-clean.png", ), "wb", ) as p: p.write(png_bytes) if not obj.false_positive: message = { "before": obj.previous, "after": obj.to_dict(), "type": "end", } self.dispatcher.publish("events", json.dumps(message), retain=False) self.ptz_autotracker_thread.ptz_autotracker.end_object(camera, obj) self.event_sender.publish( ( EventTypeEnum.tracked_object, EventStateEnum.end, camera, obj.to_dict(include_thumbnail=True), ) ) def snapshot(camera, obj: TrackedObject, current_frame_time): mqtt_config: MqttConfig = 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, quality=mqtt_config.quality, ) if jpg_bytes is None: logger.warning( f"Unable to send mqtt snapshot for {obj.obj_data['id']}." ) else: self.dispatcher.publish( f"{camera}/{obj.obj_data['label']}/snapshot", jpg_bytes, retain=True, ) def object_status(camera, object_name, status): self.dispatcher.publish(f"{camera}/{object_name}", status, retain=False) def active_object_status(camera, object_name, status): self.dispatcher.publish( f"{camera}/{object_name}/active", status, retain=False ) def camera_activity(camera, activity): last_activity = self.camera_activity.get(camera) if not last_activity or activity != last_activity: self.camera_activity[camera] = activity self.requestor.send_data(UPDATE_CAMERA_ACTIVITY, self.camera_activity) for camera in self.config.cameras.keys(): camera_state = CameraState( camera, self.config, self.frame_manager, self.ptz_autotracker_thread ) camera_state.on("start", start) camera_state.on("autotrack", autotrack) camera_state.on("update", update) camera_state.on("end", end) camera_state.on("snapshot", snapshot) camera_state.on("object_status", object_status) camera_state.on("active_object_status", active_object_status) camera_state.on("camera_activity", camera_activity) self.camera_states[camera] = camera_state def should_save_snapshot(self, camera, obj: TrackedObject): if obj.false_positive: return False snapshot_config: SnapshotsConfig = self.config.cameras[camera].snapshots if not snapshot_config.enabled: return False # object never changed position if obj.obj_data["position_changes"] == 0: return False # if there are required zones and there is no overlap required_zones = snapshot_config.required_zones if len(required_zones) > 0 and not set(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_retain_recording(self, camera: str, obj: TrackedObject): if obj.false_positive: return False record_config: RecordConfig = self.config.cameras[camera].record # Recording is disabled if not record_config.enabled: return False # object never changed position if obj.obj_data["position_changes"] == 0: return False # If the object is not considered an alert or detection review_config = self.config.cameras[camera].review if not ( ( obj.obj_data["label"] in review_config.alerts.labels and ( not review_config.alerts.required_zones or set(obj.entered_zones) & set(review_config.alerts.required_zones) ) ) or ( ( not review_config.detections.labels or obj.obj_data["label"] in review_config.detections.labels ) and ( not review_config.detections.required_zones or set(obj.entered_zones) & set(review_config.alerts.required_zones) ) ) ): logger.debug( f"Not creating clip for {obj.obj_data['id']} because it did not qualify as an alert or detection" ) return False return True def should_mqtt_snapshot(self, camera, obj: TrackedObject): # object never changed position if obj.obj_data["position_changes"] == 0: return False # 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 set(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 update_mqtt_motion(self, camera, frame_time, motion_boxes): # publish if motion is currently being detected if motion_boxes: # only send ON if motion isn't already active if self.last_motion_detected.get(camera, 0) == 0: self.dispatcher.publish( f"{camera}/motion", "ON", retain=False, ) # always updated latest motion self.last_motion_detected[camera] = frame_time elif self.last_motion_detected.get(camera, 0) > 0: mqtt_delay = self.config.cameras[camera].motion.mqtt_off_delay # If no motion, make sure the off_delay has passed if frame_time - self.last_motion_detected.get(camera, 0) >= mqtt_delay: self.dispatcher.publish( f"{camera}/motion", "OFF", retain=False, ) # reset the last_motion so redundant `off` commands aren't sent self.last_motion_detected[camera] = 0 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={}): if camera == "birdseye": return self.frame_manager.get( "birdseye", (self.config.birdseye.height * 3 // 2, self.config.birdseye.width), ) return self.camera_states[camera].get_current_frame(draw_options) def get_current_frame_time(self, camera) -> int: """Returns the latest frame time for a given camera.""" return self.camera_states[camera].current_frame_time def run(self): while not self.stop_event.is_set(): try: ( camera, frame_time, current_tracked_objects, motion_boxes, regions, ) = self.tracked_objects_queue.get(True, 1) except queue.Empty: continue camera_state = self.camera_states[camera] camera_state.update( frame_time, current_tracked_objects, motion_boxes, regions ) self.update_mqtt_motion(camera, frame_time, motion_boxes) tracked_objects = [ o.to_dict() for o in camera_state.tracked_objects.values() ] # publish info on this frame self.detection_publisher.publish( ( camera, frame_time, 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( obj.obj_data["label"] for obj in camera_state.tracked_objects.values() if zone in obj.current_zones and not obj.false_positive ) active_obj_counter = Counter( obj.obj_data["label"] for obj in camera_state.tracked_objects.values() if ( zone in obj.current_zones and not obj.false_positive and obj.active ) ) total_label_count = 0 total_active_label_count = 0 # update counts and publish status for label in set(self.zone_data[zone].keys()) | set(obj_counter.keys()): # Ignore the artificial all label if label == "all": continue # if we have previously published a count for this zone/label zone_label = self.zone_data[zone][label] active_zone_label = self.active_zone_data[zone][label] if camera in zone_label: current_count = sum(zone_label.values()) current_active_count = sum(active_zone_label.values()) zone_label[camera] = ( obj_counter[label] if label in obj_counter else 0 ) active_zone_label[camera] = ( active_obj_counter[label] if label in active_obj_counter else 0 ) new_count = sum(zone_label.values()) new_active_count = sum(active_zone_label.values()) if new_count != current_count: self.dispatcher.publish( f"{zone}/{label}", new_count, retain=False, ) if new_active_count != current_active_count: self.dispatcher.publish( f"{zone}/{label}/active", new_active_count, retain=False, ) # Set the count for the /zone/all topic. total_label_count += new_count total_active_label_count += new_active_count # if this is a new zone/label combo for this camera else: if label in obj_counter: zone_label[camera] = obj_counter[label] active_zone_label[camera] = active_obj_counter[label] self.dispatcher.publish( f"{zone}/{label}", obj_counter[label], retain=False, ) self.dispatcher.publish( f"{zone}/{label}/active", active_obj_counter[label], retain=False, ) # Set the count for the /zone/all topic. total_label_count += obj_counter[label] total_active_label_count += active_obj_counter[label] # if we have previously published a count for this zone all labels zone_label = self.zone_data[zone]["all"] active_zone_label = self.active_zone_data[zone]["all"] if camera in zone_label: current_count = sum(zone_label.values()) current_active_count = sum(active_zone_label.values()) zone_label[camera] = total_label_count active_zone_label[camera] = total_active_label_count new_count = sum(zone_label.values()) new_active_count = sum(active_zone_label.values()) if new_count != current_count: self.dispatcher.publish( f"{zone}/all", new_count, retain=False, ) if new_active_count != current_active_count: self.dispatcher.publish( f"{zone}/all/active", new_active_count, retain=False, ) # if this is a new zone all label for this camera else: zone_label[camera] = total_label_count active_zone_label[camera] = total_active_label_count self.dispatcher.publish( f"{zone}/all", total_label_count, retain=False, ) self.dispatcher.publish( f"{zone}/all/active", total_active_label_count, retain=False, ) # cleanup event finished queue while not self.stop_event.is_set(): update = self.event_end_subscriber.check_for_update(timeout=0.01) if not update: break event_id, camera, _ = update self.camera_states[camera].finished(event_id) self.requestor.stop() self.detection_publisher.stop() self.event_sender.stop() self.event_end_subscriber.stop() logger.info("Exiting object processor...")