mirror of
https://github.com/blakeblackshear/frigate.git
synced 2024-10-15 20:07:23 +02:00
737 lines
24 KiB
Python
737 lines
24 KiB
Python
import datetime
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import glob
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import logging
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import math
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import multiprocessing as mp
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import os
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import queue
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import signal
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import subprocess as sp
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import threading
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import traceback
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from wsgiref.simple_server import make_server
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import cv2
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import numpy as np
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from setproctitle import setproctitle
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from ws4py.server.wsgirefserver import (
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WebSocketWSGIHandler,
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WebSocketWSGIRequestHandler,
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WSGIServer,
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)
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from ws4py.server.wsgiutils import WebSocketWSGIApplication
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from ws4py.websocket import WebSocket
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from frigate.config import BirdseyeModeEnum, FrigateConfig
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from frigate.const import BASE_DIR, BIRDSEYE_PIPE
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from frigate.util.image import (
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SharedMemoryFrameManager,
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copy_yuv_to_position,
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get_yuv_crop,
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)
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logger = logging.getLogger(__name__)
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def get_standard_aspect_ratio(width, height) -> tuple[int, int]:
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"""Ensure that only standard aspect ratios are used."""
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known_aspects = [
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(16, 9),
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(9, 16),
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(32, 9),
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(12, 9),
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(9, 12),
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] # aspects are scaled to have common relative size
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known_aspects_ratios = list(
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map(lambda aspect: aspect[0] / aspect[1], known_aspects)
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)
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closest = min(
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known_aspects_ratios,
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key=lambda x: abs(x - (width / height)),
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)
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return known_aspects[known_aspects_ratios.index(closest)]
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class Canvas:
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def __init__(self, canvas_width: int, canvas_height: int) -> None:
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gcd = math.gcd(canvas_width, canvas_height)
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self.aspect = get_standard_aspect_ratio(
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(canvas_width / gcd), (canvas_height / gcd)
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)
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self.width = canvas_width
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self.height = (self.width * self.aspect[1]) / self.aspect[0]
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self.coefficient_cache: dict[int, int] = {}
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self.aspect_cache: dict[str, tuple[int, int]] = {}
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def get_aspect(self, coefficient: int) -> tuple[int, int]:
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return (self.aspect[0] * coefficient, self.aspect[1] * coefficient)
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def get_coefficient(self, camera_count: int) -> int:
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return self.coefficient_cache.get(camera_count, 2)
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def set_coefficient(self, camera_count: int, coefficient: int) -> None:
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self.coefficient_cache[camera_count] = coefficient
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def get_camera_aspect(
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self, cam_name: str, camera_width: int, camera_height: int
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) -> tuple[int, int]:
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cached = self.aspect_cache.get(cam_name)
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if cached:
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return cached
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gcd = math.gcd(camera_width, camera_height)
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camera_aspect = get_standard_aspect_ratio(
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camera_width / gcd, camera_height / gcd
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)
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self.aspect_cache[cam_name] = camera_aspect
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return camera_aspect
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class FFMpegConverter:
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def __init__(
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self,
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in_width: int,
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in_height: int,
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out_width: int,
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out_height: int,
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quality: int,
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birdseye_rtsp: bool = False,
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):
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self.bd_pipe = None
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if birdseye_rtsp:
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self.recreate_birdseye_pipe()
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ffmpeg_cmd = [
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"ffmpeg",
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"-f",
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"rawvideo",
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"-pix_fmt",
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"yuv420p",
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"-video_size",
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f"{in_width}x{in_height}",
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"-i",
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"pipe:",
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"-f",
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"mpegts",
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"-s",
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f"{out_width}x{out_height}",
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"-codec:v",
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"mpeg1video",
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"-q",
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f"{quality}",
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"-bf",
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"0",
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"pipe:",
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]
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self.process = sp.Popen(
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ffmpeg_cmd,
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stdout=sp.PIPE,
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stderr=sp.DEVNULL,
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stdin=sp.PIPE,
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start_new_session=True,
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)
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def recreate_birdseye_pipe(self) -> None:
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if self.bd_pipe:
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os.close(self.bd_pipe)
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if os.path.exists(BIRDSEYE_PIPE):
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os.remove(BIRDSEYE_PIPE)
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os.mkfifo(BIRDSEYE_PIPE, mode=0o777)
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stdin = os.open(BIRDSEYE_PIPE, os.O_RDONLY | os.O_NONBLOCK)
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self.bd_pipe = os.open(BIRDSEYE_PIPE, os.O_WRONLY)
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os.close(stdin)
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self.reading_birdseye = False
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def write(self, b) -> None:
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self.process.stdin.write(b)
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if self.bd_pipe:
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try:
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os.write(self.bd_pipe, b)
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self.reading_birdseye = True
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except BrokenPipeError:
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if self.reading_birdseye:
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# we know the pipe was being read from and now it is not
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# so we should recreate the pipe to ensure no partially-read
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# frames exist
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logger.debug(
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"Recreating the birdseye pipe because it was read from and now is not"
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)
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self.recreate_birdseye_pipe()
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return
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def read(self, length):
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try:
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return self.process.stdout.read1(length)
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except ValueError:
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return False
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def exit(self):
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if self.bd_pipe:
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os.close(self.bd_pipe)
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self.process.terminate()
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try:
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self.process.communicate(timeout=30)
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except sp.TimeoutExpired:
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self.process.kill()
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self.process.communicate()
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class BroadcastThread(threading.Thread):
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def __init__(self, camera, converter, websocket_server, stop_event):
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super(BroadcastThread, self).__init__()
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self.camera = camera
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self.converter = converter
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self.websocket_server = websocket_server
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self.stop_event = stop_event
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def run(self):
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while not self.stop_event.is_set():
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buf = self.converter.read(65536)
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if buf:
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manager = self.websocket_server.manager
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with manager.lock:
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websockets = manager.websockets.copy()
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ws_iter = iter(websockets.values())
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for ws in ws_iter:
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if (
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not ws.terminated
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and ws.environ["PATH_INFO"] == f"/{self.camera}"
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):
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try:
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ws.send(buf, binary=True)
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except ValueError:
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pass
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except (BrokenPipeError, ConnectionResetError) as e:
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logger.debug(f"Websocket unexpectedly closed {e}")
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elif self.converter.process.poll() is not None:
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break
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class BirdsEyeFrameManager:
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def __init__(
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self,
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config: FrigateConfig,
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frame_manager: SharedMemoryFrameManager,
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stop_event: mp.Event,
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):
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self.config = config
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self.mode = config.birdseye.mode
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self.frame_manager = frame_manager
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width = config.birdseye.width
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height = config.birdseye.height
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self.frame_shape = (height, width)
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self.yuv_shape = (height * 3 // 2, width)
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self.frame = np.ndarray(self.yuv_shape, dtype=np.uint8)
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self.canvas = Canvas(width, height)
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self.stop_event = stop_event
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# initialize the frame as black and with the Frigate logo
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self.blank_frame = np.zeros(self.yuv_shape, np.uint8)
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self.blank_frame[:] = 128
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self.blank_frame[0 : self.frame_shape[0], 0 : self.frame_shape[1]] = 16
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# find and copy the logo on the blank frame
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birdseye_logo = None
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custom_logo_files = glob.glob(f"{BASE_DIR}/custom.png")
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if len(custom_logo_files) > 0:
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birdseye_logo = cv2.imread(custom_logo_files[0], cv2.IMREAD_UNCHANGED)
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if birdseye_logo is None:
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logo_files = glob.glob("/opt/frigate/frigate/images/birdseye.png")
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if len(logo_files) > 0:
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birdseye_logo = cv2.imread(logo_files[0], cv2.IMREAD_UNCHANGED)
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if birdseye_logo is not None:
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transparent_layer = birdseye_logo[:, :, 3]
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y_offset = height // 2 - transparent_layer.shape[0] // 2
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x_offset = width // 2 - transparent_layer.shape[1] // 2
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self.blank_frame[
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y_offset : y_offset + transparent_layer.shape[1],
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x_offset : x_offset + transparent_layer.shape[0],
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] = transparent_layer
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else:
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logger.warning("Unable to read Frigate logo")
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self.frame[:] = self.blank_frame
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self.cameras = {}
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for camera, settings in self.config.cameras.items():
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# precalculate the coordinates for all the channels
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y, u1, u2, v1, v2 = get_yuv_crop(
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settings.frame_shape_yuv,
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(
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0,
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0,
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settings.frame_shape[1],
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settings.frame_shape[0],
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),
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)
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self.cameras[camera] = {
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"dimensions": [settings.detect.width, settings.detect.height],
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"last_active_frame": 0.0,
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"current_frame": 0.0,
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"layout_frame": 0.0,
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"channel_dims": {
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"y": y,
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"u1": u1,
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"u2": u2,
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"v1": v1,
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"v2": v2,
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},
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}
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self.camera_layout = []
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self.active_cameras = set()
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self.last_output_time = 0.0
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def clear_frame(self):
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logger.debug("Clearing the birdseye frame")
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self.frame[:] = self.blank_frame
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def copy_to_position(self, position, camera=None, frame_time=None):
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if camera is None:
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frame = None
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channel_dims = None
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else:
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try:
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frame = self.frame_manager.get(
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f"{camera}{frame_time}", self.config.cameras[camera].frame_shape_yuv
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)
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except FileNotFoundError:
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# TODO: better frame management would prevent this edge case
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logger.warning(
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f"Unable to copy frame {camera}{frame_time} to birdseye."
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)
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return
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channel_dims = self.cameras[camera]["channel_dims"]
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copy_yuv_to_position(
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self.frame,
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[position[1], position[0]],
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[position[3], position[2]],
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frame,
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channel_dims,
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)
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def camera_active(self, mode, object_box_count, motion_box_count):
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if mode == BirdseyeModeEnum.continuous:
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return True
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if mode == BirdseyeModeEnum.motion and motion_box_count > 0:
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return True
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if mode == BirdseyeModeEnum.objects and object_box_count > 0:
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return True
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def update_frame(self):
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"""Update to a new frame for birdseye."""
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# determine how many cameras are tracking objects within the last 30 seconds
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active_cameras = set(
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[
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cam
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for cam, cam_data in self.cameras.items()
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if cam_data["last_active_frame"] > 0
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and cam_data["current_frame"] - cam_data["last_active_frame"] < 30
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]
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)
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# if there are no active cameras
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if len(active_cameras) == 0:
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# if the layout is already cleared
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if len(self.camera_layout) == 0:
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return False
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# if the layout needs to be cleared
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else:
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self.camera_layout = []
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self.active_cameras = set()
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self.clear_frame()
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return True
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# check if we need to reset the layout because there is a different number of cameras
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reset_layout = len(self.active_cameras) - len(active_cameras) != 0
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# reset the layout if it needs to be different
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if reset_layout:
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logger.debug("Added new cameras, resetting layout...")
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self.clear_frame()
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self.active_cameras = active_cameras
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# this also converts added_cameras from a set to a list since we need
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# to pop elements in order
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active_cameras_to_add = sorted(
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active_cameras,
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# sort cameras by order and by name if the order is the same
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key=lambda active_camera: (
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self.config.cameras[active_camera].birdseye.order,
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active_camera,
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),
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)
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if len(active_cameras) == 1:
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# show single camera as fullscreen
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camera = active_cameras_to_add[0]
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camera_dims = self.cameras[camera]["dimensions"].copy()
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scaled_width = int(self.canvas.height * camera_dims[0] / camera_dims[1])
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coefficient = (
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1
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if scaled_width <= self.canvas.width
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else self.canvas.width / scaled_width
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)
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self.camera_layout = [
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[
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(
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camera,
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(
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0,
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0,
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int(scaled_width * coefficient),
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int(self.canvas.height * coefficient),
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),
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)
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]
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]
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else:
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# calculate optimal layout
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coefficient = self.canvas.get_coefficient(len(active_cameras))
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calculating = True
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# decrease scaling coefficient until height of all cameras can fit into the birdseye canvas
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while calculating:
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if self.stop_event.is_set():
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return
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layout_candidate = self.calculate_layout(
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active_cameras_to_add,
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coefficient,
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)
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if not layout_candidate:
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if coefficient < 10:
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coefficient += 1
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continue
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else:
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logger.error("Error finding appropriate birdseye layout")
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return
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calculating = False
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self.canvas.set_coefficient(len(active_cameras), coefficient)
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self.camera_layout = layout_candidate
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for row in self.camera_layout:
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for position in row:
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self.copy_to_position(
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position[1], position[0], self.cameras[position[0]]["current_frame"]
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)
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return True
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def calculate_layout(self, cameras_to_add: list[str], coefficient) -> tuple[any]:
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"""Calculate the optimal layout for 2+ cameras."""
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def map_layout(row_height: int):
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"""Map the calculated layout."""
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candidate_layout = []
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starting_x = 0
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x = 0
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max_width = 0
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y = 0
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for row in camera_layout:
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final_row = []
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max_width = max(max_width, x)
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x = starting_x
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for cameras in row:
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camera_dims = self.cameras[cameras[0]]["dimensions"].copy()
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camera_aspect = cameras[1]
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if camera_dims[1] > camera_dims[0]:
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scaled_height = int(row_height * 2)
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scaled_width = int(scaled_height * camera_aspect)
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starting_x = scaled_width
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else:
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scaled_height = row_height
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scaled_width = int(scaled_height * camera_aspect)
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# layout is too large
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if (
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x + scaled_width > self.canvas.width
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or y + scaled_height > self.canvas.height
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):
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return 0, 0, None
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final_row.append((cameras[0], (x, y, scaled_width, scaled_height)))
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x += scaled_width
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y += row_height
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candidate_layout.append(final_row)
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return max_width, y, candidate_layout
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canvas_aspect_x, canvas_aspect_y = self.canvas.get_aspect(coefficient)
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camera_layout: list[list[any]] = []
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camera_layout.append([])
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starting_x = 0
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x = starting_x
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y = 0
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y_i = 0
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max_y = 0
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for camera in cameras_to_add:
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camera_dims = self.cameras[camera]["dimensions"].copy()
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camera_aspect_x, camera_aspect_y = self.canvas.get_camera_aspect(
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camera, camera_dims[0], camera_dims[1]
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)
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if camera_dims[1] > camera_dims[0]:
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portrait = True
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else:
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portrait = False
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if (x + camera_aspect_x) <= canvas_aspect_x:
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# insert if camera can fit on current row
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camera_layout[y_i].append(
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(
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camera,
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camera_aspect_x / camera_aspect_y,
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)
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)
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if portrait:
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starting_x = camera_aspect_x
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else:
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max_y = max(
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max_y,
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camera_aspect_y,
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)
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x += camera_aspect_x
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else:
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# move on to the next row and insert
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y += max_y
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y_i += 1
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camera_layout.append([])
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x = starting_x
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if x + camera_aspect_x > canvas_aspect_x:
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return None
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camera_layout[y_i].append(
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(
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camera,
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camera_aspect_x / camera_aspect_y,
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)
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)
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x += camera_aspect_x
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if y + max_y > canvas_aspect_y:
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return None
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row_height = int(self.canvas.height / coefficient)
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total_width, total_height, standard_candidate_layout = map_layout(row_height)
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|
# 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...")
|