import datetime import logging import multiprocessing as mp import os import queue import signal import subprocess as sp import threading import time from collections import defaultdict import cv2 import numpy as np from setproctitle import setproctitle from frigate.config import CameraConfig, DetectConfig, ModelConfig from frigate.const import ( ALL_ATTRIBUTE_LABELS, ATTRIBUTE_LABEL_MAP, CACHE_DIR, REQUEST_REGION_GRID, ) from frigate.log import LogPipe from frigate.motion import MotionDetector from frigate.motion.improved_motion import ImprovedMotionDetector from frigate.object_detection import RemoteObjectDetector from frigate.track import ObjectTracker from frigate.track.norfair_tracker import NorfairTracker from frigate.types import PTZMetricsTypes from frigate.util.builtin import EventsPerSecond, get_tomorrow_at_2 from frigate.util.image import ( FrameManager, SharedMemoryFrameManager, draw_box_with_label, ) from frigate.util.object import ( box_inside, create_tensor_input, get_cluster_candidates, get_cluster_region, get_cluster_region_from_grid, get_consolidated_object_detections, get_min_region_size, get_startup_regions, inside_any, intersects_any, is_object_filtered, ) from frigate.util.services import listen logger = logging.getLogger(__name__) def stop_ffmpeg(ffmpeg_process, logger): logger.info("Terminating the existing ffmpeg process...") ffmpeg_process.terminate() try: logger.info("Waiting for ffmpeg to exit gracefully...") ffmpeg_process.communicate(timeout=30) except sp.TimeoutExpired: logger.info("FFmpeg didnt exit. Force killing...") ffmpeg_process.kill() ffmpeg_process.communicate() ffmpeg_process = None def start_or_restart_ffmpeg( ffmpeg_cmd, logger, logpipe: LogPipe, frame_size=None, ffmpeg_process=None ): if ffmpeg_process is not None: stop_ffmpeg(ffmpeg_process, logger) if frame_size is None: process = sp.Popen( ffmpeg_cmd, stdout=sp.DEVNULL, stderr=logpipe, stdin=sp.DEVNULL, start_new_session=True, ) else: process = sp.Popen( ffmpeg_cmd, stdout=sp.PIPE, stderr=logpipe, stdin=sp.DEVNULL, bufsize=frame_size * 10, start_new_session=True, ) return process def capture_frames( ffmpeg_process, camera_name, frame_shape, frame_manager: FrameManager, frame_queue, fps: mp.Value, skipped_fps: mp.Value, current_frame: mp.Value, stop_event: mp.Event, ): frame_size = frame_shape[0] * frame_shape[1] frame_rate = EventsPerSecond() frame_rate.start() skipped_eps = EventsPerSecond() skipped_eps.start() while True: fps.value = frame_rate.eps() skipped_fps.value = skipped_eps.eps() current_frame.value = datetime.datetime.now().timestamp() frame_name = f"{camera_name}{current_frame.value}" frame_buffer = frame_manager.create(frame_name, frame_size) try: frame_buffer[:] = ffmpeg_process.stdout.read(frame_size) except Exception: # shutdown has been initiated if stop_event.is_set(): break logger.error(f"{camera_name}: Unable to read frames from ffmpeg process.") if ffmpeg_process.poll() is not None: logger.error( f"{camera_name}: ffmpeg process is not running. exiting capture thread..." ) frame_manager.delete(frame_name) break continue frame_rate.update() # don't lock the queue to check, just try since it should rarely be full try: # add to the queue frame_queue.put(current_frame.value, False) # close the frame frame_manager.close(frame_name) except queue.Full: # if the queue is full, skip this frame skipped_eps.update() frame_manager.delete(frame_name) class CameraWatchdog(threading.Thread): def __init__( self, camera_name, config: CameraConfig, frame_queue, camera_fps, skipped_fps, ffmpeg_pid, stop_event, ): threading.Thread.__init__(self) self.logger = logging.getLogger(f"watchdog.{camera_name}") self.camera_name = camera_name self.config = config self.capture_thread = None self.ffmpeg_detect_process = None self.logpipe = LogPipe(f"ffmpeg.{self.camera_name}.detect") self.ffmpeg_other_processes: list[dict[str, any]] = [] self.camera_fps = camera_fps self.skipped_fps = skipped_fps self.ffmpeg_pid = ffmpeg_pid self.frame_queue = frame_queue self.frame_shape = self.config.frame_shape_yuv self.frame_size = self.frame_shape[0] * self.frame_shape[1] self.stop_event = stop_event self.sleeptime = self.config.ffmpeg.retry_interval def run(self): self.start_ffmpeg_detect() for c in self.config.ffmpeg_cmds: if "detect" in c["roles"]: continue logpipe = LogPipe( f"ffmpeg.{self.camera_name}.{'_'.join(sorted(c['roles']))}" ) self.ffmpeg_other_processes.append( { "cmd": c["cmd"], "roles": c["roles"], "logpipe": logpipe, "process": start_or_restart_ffmpeg(c["cmd"], self.logger, logpipe), } ) time.sleep(self.sleeptime) while not self.stop_event.wait(self.sleeptime): now = datetime.datetime.now().timestamp() if not self.capture_thread.is_alive(): self.camera_fps.value = 0 self.logger.error( f"Ffmpeg process crashed unexpectedly for {self.camera_name}." ) self.logger.error( "The following ffmpeg logs include the last 100 lines prior to exit." ) self.logpipe.dump() self.start_ffmpeg_detect() elif now - self.capture_thread.current_frame.value > 20: self.camera_fps.value = 0 self.logger.info( f"No frames received from {self.camera_name} in 20 seconds. Exiting ffmpeg..." ) self.ffmpeg_detect_process.terminate() try: self.logger.info("Waiting for ffmpeg to exit gracefully...") self.ffmpeg_detect_process.communicate(timeout=30) except sp.TimeoutExpired: self.logger.info("FFmpeg did not exit. Force killing...") self.ffmpeg_detect_process.kill() self.ffmpeg_detect_process.communicate() elif self.camera_fps.value >= (self.config.detect.fps + 10): self.camera_fps.value = 0 self.logger.info( f"{self.camera_name} exceeded fps limit. Exiting ffmpeg..." ) self.ffmpeg_detect_process.terminate() try: self.logger.info("Waiting for ffmpeg to exit gracefully...") self.ffmpeg_detect_process.communicate(timeout=30) except sp.TimeoutExpired: self.logger.info("FFmpeg did not exit. Force killing...") self.ffmpeg_detect_process.kill() self.ffmpeg_detect_process.communicate() for p in self.ffmpeg_other_processes: poll = p["process"].poll() if self.config.record.enabled and "record" in p["roles"]: latest_segment_time = self.get_latest_segment_timestamp( p.get( "latest_segment_time", datetime.datetime.now().timestamp() ) ) if datetime.datetime.now().timestamp() > ( latest_segment_time + 120 ): self.logger.error( f"No new recording segments were created for {self.camera_name} in the last 120s. restarting the ffmpeg record process..." ) p["process"] = start_or_restart_ffmpeg( p["cmd"], self.logger, p["logpipe"], ffmpeg_process=p["process"], ) continue else: p["latest_segment_time"] = latest_segment_time if poll is None: continue p["logpipe"].dump() p["process"] = start_or_restart_ffmpeg( p["cmd"], self.logger, p["logpipe"], ffmpeg_process=p["process"] ) stop_ffmpeg(self.ffmpeg_detect_process, self.logger) for p in self.ffmpeg_other_processes: stop_ffmpeg(p["process"], self.logger) p["logpipe"].close() self.logpipe.close() def start_ffmpeg_detect(self): ffmpeg_cmd = [ c["cmd"] for c in self.config.ffmpeg_cmds if "detect" in c["roles"] ][0] self.ffmpeg_detect_process = start_or_restart_ffmpeg( ffmpeg_cmd, self.logger, self.logpipe, self.frame_size ) self.ffmpeg_pid.value = self.ffmpeg_detect_process.pid self.capture_thread = CameraCapture( self.camera_name, self.ffmpeg_detect_process, self.frame_shape, self.frame_queue, self.camera_fps, self.skipped_fps, self.stop_event, ) self.capture_thread.start() def get_latest_segment_timestamp(self, latest_timestamp) -> int: """Checks if ffmpeg is still writing recording segments to cache.""" cache_files = sorted( [ d for d in os.listdir(CACHE_DIR) if os.path.isfile(os.path.join(CACHE_DIR, d)) and d.endswith(".mp4") and not d.startswith("clip_") ] ) newest_segment_timestamp = latest_timestamp for file in cache_files: if self.camera_name in file: basename = os.path.splitext(file)[0] _, date = basename.rsplit("-", maxsplit=1) ts = datetime.datetime.strptime(date, "%Y%m%d%H%M%S").timestamp() if ts > newest_segment_timestamp: newest_segment_timestamp = ts return newest_segment_timestamp class CameraCapture(threading.Thread): def __init__( self, camera_name, ffmpeg_process, frame_shape, frame_queue, fps, skipped_fps, stop_event, ): threading.Thread.__init__(self) self.name = f"capture:{camera_name}" self.camera_name = camera_name self.frame_shape = frame_shape self.frame_queue = frame_queue self.fps = fps self.stop_event = stop_event self.skipped_fps = skipped_fps self.frame_manager = SharedMemoryFrameManager() self.ffmpeg_process = ffmpeg_process self.current_frame = mp.Value("d", 0.0) self.last_frame = 0 def run(self): capture_frames( self.ffmpeg_process, self.camera_name, self.frame_shape, self.frame_manager, self.frame_queue, self.fps, self.skipped_fps, self.current_frame, self.stop_event, ) def capture_camera(name, config: CameraConfig, process_info): stop_event = mp.Event() def receiveSignal(signalNumber, frame): stop_event.set() signal.signal(signal.SIGTERM, receiveSignal) signal.signal(signal.SIGINT, receiveSignal) threading.current_thread().name = f"capture:{name}" setproctitle(f"frigate.capture:{name}") frame_queue = process_info["frame_queue"] camera_watchdog = CameraWatchdog( name, config, frame_queue, process_info["camera_fps"], process_info["skipped_fps"], process_info["ffmpeg_pid"], stop_event, ) camera_watchdog.start() camera_watchdog.join() def track_camera( name, config: CameraConfig, model_config, labelmap, detection_queue, result_connection, detected_objects_queue, inter_process_queue, process_info, ptz_metrics, region_grid, ): stop_event = mp.Event() def receiveSignal(signalNumber, frame): stop_event.set() signal.signal(signal.SIGTERM, receiveSignal) signal.signal(signal.SIGINT, receiveSignal) threading.current_thread().name = f"process:{name}" setproctitle(f"frigate.process:{name}") listen() frame_queue = process_info["frame_queue"] region_grid_queue = process_info["region_grid_queue"] detection_enabled = process_info["detection_enabled"] motion_enabled = process_info["motion_enabled"] improve_contrast_enabled = process_info["improve_contrast_enabled"] motion_threshold = process_info["motion_threshold"] motion_contour_area = process_info["motion_contour_area"] frame_shape = config.frame_shape objects_to_track = config.objects.track object_filters = config.objects.filters motion_detector = ImprovedMotionDetector( frame_shape, config.motion, config.detect.fps, improve_contrast_enabled, motion_threshold, motion_contour_area, ) object_detector = RemoteObjectDetector( name, labelmap, detection_queue, result_connection, model_config, stop_event ) object_tracker = NorfairTracker(config, ptz_metrics) frame_manager = SharedMemoryFrameManager() process_frames( name, inter_process_queue, frame_queue, region_grid_queue, frame_shape, model_config, config.detect, frame_manager, motion_detector, object_detector, object_tracker, detected_objects_queue, process_info, objects_to_track, object_filters, detection_enabled, motion_enabled, stop_event, ptz_metrics, region_grid, ) logger.info(f"{name}: exiting subprocess") def detect( detect_config: DetectConfig, object_detector, frame, model_config, region, objects_to_track, object_filters, ): tensor_input = create_tensor_input(frame, model_config, region) detections = [] region_detections = object_detector.detect(tensor_input) for d in region_detections: box = d[2] size = region[2] - region[0] x_min = int(max(0, (box[1] * size) + region[0])) y_min = int(max(0, (box[0] * size) + region[1])) x_max = int(min(detect_config.width - 1, (box[3] * size) + region[0])) y_max = int(min(detect_config.height - 1, (box[2] * size) + region[1])) # ignore objects that were detected outside the frame if (x_min >= detect_config.width - 1) or (y_min >= detect_config.height - 1): continue width = x_max - x_min height = y_max - y_min area = width * height ratio = width / max(1, height) det = ( d[0], d[1], (x_min, y_min, x_max, y_max), area, ratio, region, ) # apply object filters if is_object_filtered(det, objects_to_track, object_filters): continue detections.append(det) return detections def process_frames( camera_name: str, inter_process_queue: mp.Queue, frame_queue: mp.Queue, region_grid_queue: mp.Queue, frame_shape, model_config: ModelConfig, detect_config: DetectConfig, frame_manager: FrameManager, motion_detector: MotionDetector, object_detector: RemoteObjectDetector, object_tracker: ObjectTracker, detected_objects_queue: mp.Queue, process_info: dict, objects_to_track: list[str], object_filters, detection_enabled: mp.Value, motion_enabled: mp.Value, stop_event, ptz_metrics: PTZMetricsTypes, region_grid, exit_on_empty: bool = False, ): fps = process_info["process_fps"] detection_fps = process_info["detection_fps"] current_frame_time = process_info["detection_frame"] next_region_update = get_tomorrow_at_2() fps_tracker = EventsPerSecond() fps_tracker.start() startup_scan = True stationary_frame_counter = 0 region_min_size = get_min_region_size(model_config) while not stop_event.is_set(): if ( datetime.datetime.now().astimezone(datetime.timezone.utc) > next_region_update ): inter_process_queue.put((REQUEST_REGION_GRID, camera_name)) try: region_grid = region_grid_queue.get(True, 10) except queue.Empty: logger.error(f"Unable to get updated region grid for {camera_name}") next_region_update = get_tomorrow_at_2() try: if exit_on_empty: frame_time = frame_queue.get(False) else: frame_time = frame_queue.get(True, 1) except queue.Empty: if exit_on_empty: logger.info("Exiting track_objects...") break continue current_frame_time.value = frame_time ptz_metrics["ptz_frame_time"].value = frame_time frame = frame_manager.get( f"{camera_name}{frame_time}", (frame_shape[0] * 3 // 2, frame_shape[1]) ) if frame is None: logger.info(f"{camera_name}: frame {frame_time} is not in memory store.") continue # look for motion if enabled motion_boxes = motion_detector.detect(frame) if motion_enabled.value else [] regions = [] consolidated_detections = [] # if detection is disabled if not detection_enabled.value: object_tracker.match_and_update(frame_time, []) else: # get stationary object ids # check every Nth frame for stationary objects # disappeared objects are not stationary # also check for overlapping motion boxes if stationary_frame_counter == detect_config.stationary.interval: stationary_frame_counter = 0 stationary_object_ids = [] else: stationary_frame_counter += 1 stationary_object_ids = [ obj["id"] for obj in object_tracker.tracked_objects.values() # if it has exceeded the stationary threshold if obj["motionless_count"] >= detect_config.stationary.threshold # and it hasn't disappeared and object_tracker.disappeared[obj["id"]] == 0 # and it doesn't overlap with any current motion boxes when not calibrating and not intersects_any( obj["box"], [] if motion_detector.is_calibrating() else motion_boxes, ) ] # get tracked object boxes that aren't stationary tracked_object_boxes = [ ( # use existing object box for stationary objects obj["estimate"] if obj["motionless_count"] < detect_config.stationary.threshold else obj["box"] ) for obj in object_tracker.tracked_objects.values() if obj["id"] not in stationary_object_ids ] # get consolidated regions for tracked objects regions = [ get_cluster_region( frame_shape, region_min_size, candidate, tracked_object_boxes ) for candidate in get_cluster_candidates( frame_shape, region_min_size, tracked_object_boxes ) ] # only add in the motion boxes when not calibrating if not motion_detector.is_calibrating(): # find motion boxes that are not inside tracked object regions standalone_motion_boxes = [ b for b in motion_boxes if not inside_any(b, regions) ] if standalone_motion_boxes: motion_clusters = get_cluster_candidates( frame_shape, region_min_size, standalone_motion_boxes, ) motion_regions = [ get_cluster_region_from_grid( frame_shape, region_min_size, candidate, standalone_motion_boxes, region_grid, ) for candidate in motion_clusters ] regions += motion_regions # if starting up, get the next startup scan region if startup_scan: for region in get_startup_regions( frame_shape, region_min_size, region_grid ): regions.append(region) startup_scan = False # resize regions and detect # seed with stationary objects detections = [ ( obj["label"], obj["score"], obj["box"], obj["area"], obj["ratio"], obj["region"], ) for obj in object_tracker.tracked_objects.values() if obj["id"] in stationary_object_ids ] for region in regions: detections.extend( detect( detect_config, object_detector, frame, model_config, region, objects_to_track, object_filters, ) ) ######### # merge objects ######### # group by name detected_object_groups = defaultdict(lambda: []) for detection in detections: detected_object_groups[detection[0]].append(detection) selected_objects = [] for group in detected_object_groups.values(): # apply non-maxima suppression to suppress weak, overlapping bounding boxes # o[2] is the box of the object: xmin, ymin, xmax, ymax # apply max/min to ensure values do not exceed the known frame size boxes = [ ( o[2][0], o[2][1], o[2][2] - o[2][0], o[2][3] - o[2][1], ) for o in group ] confidences = [o[1] for o in group] idxs = cv2.dnn.NMSBoxes(boxes, confidences, 0.5, 0.4) # add objects for index in idxs: index = index if isinstance(index, np.int32) else index[0] obj = group[index] selected_objects.append(obj) # set the detections list to only include top objects detections = selected_objects # if detection was run on this frame, consolidate if len(regions) > 0: # group by name detected_object_groups = defaultdict(lambda: []) for detection in detections: detected_object_groups[detection[0]].append(detection) consolidated_detections = get_consolidated_object_detections( detected_object_groups ) tracked_detections = [ d for d in consolidated_detections if d[0] not in ALL_ATTRIBUTE_LABELS ] # now that we have refined our detections, we need to track objects object_tracker.match_and_update(frame_time, tracked_detections) # else, just update the frame times for the stationary objects else: object_tracker.update_frame_times(frame_time) # group the attribute detections based on what label they apply to attribute_detections = {} for label, attribute_labels in ATTRIBUTE_LABEL_MAP.items(): attribute_detections[label] = [ d for d in consolidated_detections if d[0] in attribute_labels ] # build detections and add attributes detections = {} for obj in object_tracker.tracked_objects.values(): attributes = [] # if the objects label has associated attribute detections if obj["label"] in attribute_detections.keys(): # add them to attributes if they intersect for attribute_detection in attribute_detections[obj["label"]]: if box_inside(obj["box"], (attribute_detection[2])): attributes.append( { "label": attribute_detection[0], "score": attribute_detection[1], "box": attribute_detection[2], } ) detections[obj["id"]] = {**obj, "attributes": attributes} # debug object tracking if False: bgr_frame = cv2.cvtColor( frame, cv2.COLOR_YUV2BGR_I420, ) object_tracker.debug_draw(bgr_frame, frame_time) cv2.imwrite( f"debug/frames/track-{'{:.6f}'.format(frame_time)}.jpg", bgr_frame ) # debug if False: bgr_frame = cv2.cvtColor( frame, cv2.COLOR_YUV2BGR_I420, ) for m_box in motion_boxes: cv2.rectangle( bgr_frame, (m_box[0], m_box[1]), (m_box[2], m_box[3]), (0, 0, 255), 2, ) for b in tracked_object_boxes: cv2.rectangle( bgr_frame, (b[0], b[1]), (b[2], b[3]), (255, 0, 0), 2, ) for obj in object_tracker.tracked_objects.values(): if obj["frame_time"] == frame_time: thickness = 2 color = model_config.colormap[obj["label"]] else: thickness = 1 color = (255, 0, 0) # draw the bounding boxes on the frame box = obj["box"] draw_box_with_label( bgr_frame, box[0], box[1], box[2], box[3], obj["label"], obj["id"], thickness=thickness, color=color, ) for region in regions: cv2.rectangle( bgr_frame, (region[0], region[1]), (region[2], region[3]), (0, 255, 0), 2, ) cv2.imwrite( f"debug/frames/{camera_name}-{'{:.6f}'.format(frame_time)}.jpg", bgr_frame, ) # add to the queue if not full if detected_objects_queue.full(): frame_manager.delete(f"{camera_name}{frame_time}") continue else: fps_tracker.update() fps.value = fps_tracker.eps() detected_objects_queue.put( ( camera_name, frame_time, detections, motion_boxes, regions, ) ) detection_fps.value = object_detector.fps.eps() frame_manager.close(f"{camera_name}{frame_time}")