blakeblackshear.frigate/frigate/util.py

from abc import ABC, abstractmethod
import datetime
import time
import signal
import traceback
import collections
import numpy as np
import cv2
import threading
import matplotlib.pyplot as plt
import hashlib
import pyarrow.plasma as plasma

def draw_box_with_label(frame, x_min, y_min, x_max, y_max, label, info, thickness=2, color=None, position='ul'):
    if color is None:
        color = (0,0,255)
    display_text = "{}: {}".format(label, info)
    cv2.rectangle(frame, (x_min, y_min), (x_max, y_max), color, thickness)
    font_scale = 0.5
    font = cv2.FONT_HERSHEY_SIMPLEX
    # get the width and height of the text box
    size = cv2.getTextSize(display_text, font, fontScale=font_scale, thickness=2)
    text_width = size[0][0]
    text_height = size[0][1]
    line_height = text_height + size[1]
    # set the text start position
    if position == 'ul':
        text_offset_x = x_min
        text_offset_y = 0 if y_min < line_height else y_min - (line_height+8)
    elif position == 'ur':
        text_offset_x = x_max - (text_width+8)
        text_offset_y = 0 if y_min < line_height else y_min - (line_height+8)
    elif position == 'bl':
        text_offset_x = x_min
        text_offset_y = y_max
    elif position == 'br':
        text_offset_x = x_max - (text_width+8)
        text_offset_y = y_max
    # make the coords of the box with a small padding of two pixels
    textbox_coords = ((text_offset_x, text_offset_y), (text_offset_x + text_width + 2, text_offset_y + line_height))
    cv2.rectangle(frame, textbox_coords[0], textbox_coords[1], color, cv2.FILLED)
    cv2.putText(frame, display_text, (text_offset_x, text_offset_y + line_height - 3), font, fontScale=font_scale, color=(0, 0, 0), thickness=2)

def calculate_region(frame_shape, xmin, ymin, xmax, ymax, multiplier=2):    
    # size is larger than longest edge
    size = int(max(xmax-xmin, ymax-ymin)*multiplier)
    # dont go any smaller than 300
    if size < 300:
        size = 300
    # if the size is too big to fit in the frame
    if size > min(frame_shape[0], frame_shape[1]):
        size = min(frame_shape[0], frame_shape[1])

    # x_offset is midpoint of bounding box minus half the size
    x_offset = int((xmax-xmin)/2.0+xmin-size/2.0)
    # if outside the image
    if x_offset < 0:
        x_offset = 0
    elif x_offset > (frame_shape[1]-size):
        x_offset = (frame_shape[1]-size)

    # y_offset is midpoint of bounding box minus half the size
    y_offset = int((ymax-ymin)/2.0+ymin-size/2.0)
    # if outside the image
    if y_offset < 0:
        y_offset = 0
    elif y_offset > (frame_shape[0]-size):
        y_offset = (frame_shape[0]-size)

    return (x_offset, y_offset, x_offset+size, y_offset+size)

def intersection(box_a, box_b):
    return (
        max(box_a[0], box_b[0]),
        max(box_a[1], box_b[1]),
        min(box_a[2], box_b[2]),
        min(box_a[3], box_b[3])
    )

def area(box):
    return (box[2]-box[0] + 1)*(box[3]-box[1] + 1)
    
def intersection_over_union(box_a, box_b):
    # determine the (x, y)-coordinates of the intersection rectangle
    intersect = intersection(box_a, box_b)

    # compute the area of intersection rectangle
    inter_area = max(0, intersect[2] - intersect[0] + 1) * max(0, intersect[3] - intersect[1] + 1)

    if inter_area == 0:
        return 0.0
    
    # compute the area of both the prediction and ground-truth
    # rectangles
    box_a_area = (box_a[2] - box_a[0] + 1) * (box_a[3] - box_a[1] + 1)
    box_b_area = (box_b[2] - box_b[0] + 1) * (box_b[3] - box_b[1] + 1)

    # compute the intersection over union by taking the intersection
    # area and dividing it by the sum of prediction + ground-truth
    # areas - the interesection area
    iou = inter_area / float(box_a_area + box_b_area - inter_area)

    # return the intersection over union value
    return iou

def clipped(obj, frame_shape):
    # if the object is within 5 pixels of the region border, and the region is not on the edge
    # consider the object to be clipped
    box = obj[2]
    region = obj[4]
    if ((region[0] > 5 and box[0]-region[0] <= 5) or 
        (region[1] > 5 and box[1]-region[1] <= 5) or
        (frame_shape[1]-region[2] > 5 and region[2]-box[2] <= 5) or
        (frame_shape[0]-region[3] > 5 and region[3]-box[3] <= 5)):
        return True
    else:
        return False

class EventsPerSecond:
    def __init__(self, max_events=1000):
        self._start = None
        self._max_events = max_events
        self._timestamps = []
    
    def start(self):
        self._start = datetime.datetime.now().timestamp()

    def update(self):
        if self._start is None:
            self.start()
        self._timestamps.append(datetime.datetime.now().timestamp())
        # truncate the list when it goes 100 over the max_size
        if len(self._timestamps) > self._max_events+100:
            self._timestamps = self._timestamps[(1-self._max_events):]

    def eps(self, last_n_seconds=10):
        if self._start is None:
            self.start()
		# compute the (approximate) events in the last n seconds
        now = datetime.datetime.now().timestamp()
        seconds = min(now-self._start, last_n_seconds)
        return len([t for t in self._timestamps if t > (now-last_n_seconds)]) / seconds

def print_stack(sig, frame):
    traceback.print_stack(frame)

def listen():
    signal.signal(signal.SIGUSR1, print_stack)

class FrameManager(ABC):
    @abstractmethod
    def get(self, name, timeout_ms=0):
        pass

    @abstractmethod
    def put(self, name, frame):
        pass

    @abstractmethod
    def delete(self, name):
        pass

class DictFrameManager(FrameManager):
    def __init__(self):
        self.frames = {}
    
    def get(self, name, timeout_ms=0):
        return self.frames.get(name)
    
    def put(self, name, frame):
        self.frames[name] = frame
    
    def delete(self, name):
        del self.frames[name]

class PlasmaFrameManager(FrameManager):
    def __init__(self, stop_event=None):
        self.stop_event = stop_event
        self.connect()
    
    def connect(self):
        while True:
            if self.stop_event != None and self.stop_event.is_set():
                return
            try:
                self.plasma_client = plasma.connect("/tmp/plasma")
                return
            except:
                print(f"TrackedObjectProcessor: unable to connect plasma client")
                time.sleep(10)

    def get(self, name, timeout_ms=0):
        object_id = plasma.ObjectID(hashlib.sha1(str.encode(name)).digest())
        while True:
            if self.stop_event != None and self.stop_event.is_set():
                return
            try:
                frame = self.plasma_client.get(object_id, timeout_ms=timeout_ms)
                if frame is plasma.ObjectNotAvailable:
                    return None
                return frame
            except:
                self.connect()
                time.sleep(1)

    def put(self, name, frame):
        object_id = plasma.ObjectID(hashlib.sha1(str.encode(name)).digest())
        while True:
            if self.stop_event != None and self.stop_event.is_set():
                return
            try:
                self.plasma_client.put(frame, object_id)
                return
            except Exception as e:
                print(f"Failed to put in plasma: {e}")
                self.connect()
                time.sleep(1)

    def delete(self, name):
        object_id = plasma.ObjectID(hashlib.sha1(str.encode(name)).digest())
        while True:
            if self.stop_event != None and self.stop_event.is_set():
                return
            try:
                self.plasma_client.delete([object_id])
                return
            except:
                self.connect()
                time.sleep(1)