mirror of
https://github.com/blakeblackshear/frigate.git
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2946c935ee
* Fix live cameras not showing on refresh * Fix live dashboard when birdseye is added * Handle cameras that are offline / disabled * Use black instead of green frame * Fix missing mqtt topics
842 lines
28 KiB
Python
842 lines
28 KiB
Python
"""Handle outputting birdseye frames via jsmpeg and go2rtc."""
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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 subprocess as sp
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import threading
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import traceback
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from typing import Optional
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import cv2
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import numpy as np
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from frigate.comms.config_updater import ConfigSubscriber
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from frigate.config import BirdseyeModeEnum, FfmpegConfig, FrigateConfig
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from frigate.const import BASE_DIR, BIRDSEYE_PIPE, INSTALL_DIR
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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: int, height: int) -> tuple[int, int]:
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"""Ensure that only standard aspect ratios are used."""
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# it is important that all ratios have the same scale
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known_aspects = [
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(16, 9),
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(9, 16),
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(20, 10),
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(16, 3), # max wide camera
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(16, 6), # reolink duo 2
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(32, 9), # panoramic cameras
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(12, 9),
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(9, 12),
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(22, 15), # Amcrest, NTSC DVT
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(1, 1), # fisheye
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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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def get_canvas_shape(width: int, height: int) -> tuple[int, int]:
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"""Get birdseye canvas shape."""
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canvas_width = width
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canvas_height = height
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a_w, a_h = get_standard_aspect_ratio(width, height)
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if round(a_w / a_h, 2) != round(width / height, 2):
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canvas_width = int(width // 4 * 4)
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canvas_height = int((canvas_width / a_w * a_h) // 4 * 4)
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logger.warning(
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f"The birdseye resolution is a non-standard aspect ratio, forcing birdseye resolution to {canvas_width} x {canvas_height}"
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)
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return (canvas_width, canvas_height)
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class Canvas:
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def __init__(
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self,
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canvas_width: int,
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canvas_height: int,
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scaling_factor: int,
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) -> None:
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self.scaling_factor = scaling_factor
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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, self.scaling_factor)
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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(threading.Thread):
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def __init__(
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self,
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ffmpeg: FfmpegConfig,
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input_queue: queue.Queue,
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stop_event: mp.Event,
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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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super().__init__(name="birdseye_output_converter")
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self.camera = "birdseye"
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self.input_queue = input_queue
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self.stop_event = stop_event
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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.ffmpeg_path,
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"-threads",
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"1",
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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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"-threads",
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"1",
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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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def run(self) -> None:
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while not self.stop_event.is_set():
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try:
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frame = self.input_queue.get(True, timeout=1)
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self.__write(frame)
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except queue.Empty:
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pass
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self.exit()
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class BroadcastThread(threading.Thread):
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def __init__(
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self,
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camera: str,
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converter: FFMpegConverter,
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websocket_server,
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stop_event: mp.Event,
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):
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super().__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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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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width, height = get_canvas_shape(config.birdseye.width, 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, config.birdseye.layout.scaling_factor)
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self.stop_event = stop_event
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self.inactivity_threshold = config.birdseye.inactivity_threshold
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self.enabled_subscribers = {
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cam: ConfigSubscriber(f"config/enabled/{cam}", True)
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for cam in config.cameras.keys()
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if config.cameras[cam].enabled_in_config
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}
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if config.birdseye.layout.max_cameras:
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self.last_refresh_time = 0
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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(
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os.path.join(INSTALL_DIR, "frigate/images/birdseye.png")
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)
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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: np.ndarray = 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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if frame is None:
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logger.debug(f"Unable to copy frame {camera} to birdseye.")
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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 _get_enabled_state(self, camera: str) -> bool:
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"""Fetch the latest enabled state for a camera from ZMQ."""
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_, config_data = self.enabled_subscribers[camera].check_for_update()
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if config_data:
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self.config.cameras[camera].enabled = config_data.enabled
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return config_data.enabled
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return self.config.cameras[camera].enabled
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def update_frame(self, frame: Optional[np.ndarray] = None) -> bool:
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"""
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Update birdseye, optionally with a new frame.
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When no frame is passed, check the layout and update for any disabled cameras.
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"""
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# determine how many cameras are tracking objects within the last inactivity_threshold seconds
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active_cameras: set[str] = 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 self.config.cameras[cam].birdseye.enabled
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and self.config.cameras[cam].enabled_in_config
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and self._get_enabled_state(cam)
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and cam_data["last_active_frame"] > 0
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and cam_data["current_frame_time"] - cam_data["last_active_frame"]
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< self.inactivity_threshold
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]
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)
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logger.debug(f"Active cameras: {active_cameras}")
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max_cameras = self.config.birdseye.layout.max_cameras
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max_camera_refresh = False
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if max_cameras:
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now = datetime.datetime.now().timestamp()
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if len(active_cameras) == max_cameras and now - self.last_refresh_time < 10:
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# don't refresh cameras too often
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active_cameras = self.active_cameras
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else:
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limited_active_cameras = sorted(
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active_cameras,
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key=lambda active_camera: (
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self.cameras[active_camera]["current_frame_time"]
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- self.cameras[active_camera]["last_active_frame"]
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),
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)
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active_cameras = limited_active_cameras[:max_cameras]
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max_camera_refresh = True
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self.last_refresh_time = now
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# Track if the frame changes
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frame_changed = False
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# If no active cameras and layout is already empty, no update needed
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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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self.camera_layout = []
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self.active_cameras = set()
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self.clear_frame()
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frame_changed = True
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else:
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# Determine if layout needs resetting
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if len(self.active_cameras) - len(active_cameras) == 0:
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if (
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len(self.active_cameras) == 1
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and self.active_cameras != active_cameras
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):
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reset_layout = True
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elif max_camera_refresh:
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reset_layout = True
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else:
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reset_layout = False
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else:
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reset_layout = True
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if reset_layout:
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logger.debug("Resetting Birdseye 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(
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self.canvas.height * camera_dims[0] / camera_dims[1]
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)
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# center camera view in canvas and ensure that it fits
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if scaled_width < self.canvas.width:
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coefficient = 1
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x_offset = int((self.canvas.width - scaled_width) / 2)
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else:
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coefficient = self.canvas.width / scaled_width
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x_offset = int(
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(self.canvas.width - (scaled_width * coefficient)) / 2
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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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x_offset,
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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, coefficient
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)
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|
if not layout_candidate:
|
|
if coefficient < 10:
|
|
coefficient += 1
|
|
continue
|
|
else:
|
|
logger.error(
|
|
"Error finding appropriate birdseye layout"
|
|
)
|
|
return
|
|
calculating = False
|
|
self.canvas.set_coefficient(len(active_cameras), coefficient)
|
|
|
|
self.camera_layout = layout_candidate
|
|
frame_changed = True
|
|
|
|
# Draw the layout
|
|
for row in self.camera_layout:
|
|
for position in row:
|
|
src_frame = self.cameras[position[0]]["current_frame"]
|
|
if src_frame is None or src_frame.size == 0:
|
|
logger.debug(f"Skipping invalid frame for {position[0]}")
|
|
continue
|
|
self.copy_to_position(position[1], position[0], src_frame)
|
|
if frame is not None: # Frame presence indicates a potential change
|
|
frame_changed = True
|
|
|
|
return frame_changed
|
|
|
|
def calculate_layout(
|
|
self,
|
|
cameras_to_add: list[str],
|
|
coefficient: float,
|
|
) -> tuple[any]:
|
|
"""Calculate the optimal layout for 2+ cameras."""
|
|
|
|
def map_layout(camera_layout: list[list[any]], row_height: int):
|
|
"""Map the calculated layout."""
|
|
candidate_layout = []
|
|
starting_x = 0
|
|
x = 0
|
|
max_width = 0
|
|
y = 0
|
|
|
|
for row in camera_layout:
|
|
final_row = []
|
|
max_width = max(max_width, x)
|
|
x = starting_x
|
|
for cameras in row:
|
|
camera_dims = self.cameras[cameras[0]]["dimensions"].copy()
|
|
camera_aspect = cameras[1]
|
|
|
|
if camera_dims[1] > camera_dims[0]:
|
|
scaled_height = int(row_height * 2)
|
|
scaled_width = int(scaled_height * camera_aspect)
|
|
starting_x = scaled_width
|
|
else:
|
|
scaled_height = row_height
|
|
scaled_width = int(scaled_height * camera_aspect)
|
|
|
|
# layout is too large
|
|
if (
|
|
x + scaled_width > self.canvas.width
|
|
or y + scaled_height > self.canvas.height
|
|
):
|
|
return x + scaled_width, y + scaled_height, None
|
|
|
|
final_row.append((cameras[0], (x, y, scaled_width, scaled_height)))
|
|
x += scaled_width
|
|
|
|
y += row_height
|
|
candidate_layout.append(final_row)
|
|
|
|
if max_width == 0:
|
|
max_width = x
|
|
|
|
return max_width, y, candidate_layout
|
|
|
|
canvas_aspect_x, canvas_aspect_y = self.canvas.get_aspect(coefficient)
|
|
camera_layout: list[list[any]] = []
|
|
camera_layout.append([])
|
|
starting_x = 0
|
|
x = starting_x
|
|
y = 0
|
|
y_i = 0
|
|
max_y = 0
|
|
for camera in cameras_to_add:
|
|
camera_dims = self.cameras[camera]["dimensions"].copy()
|
|
camera_aspect_x, camera_aspect_y = self.canvas.get_camera_aspect(
|
|
camera, camera_dims[0], camera_dims[1]
|
|
)
|
|
|
|
if camera_dims[1] > camera_dims[0]:
|
|
portrait = True
|
|
else:
|
|
portrait = False
|
|
|
|
if (x + camera_aspect_x) <= canvas_aspect_x:
|
|
# insert if camera can fit on current row
|
|
camera_layout[y_i].append(
|
|
(
|
|
camera,
|
|
camera_aspect_x / camera_aspect_y,
|
|
)
|
|
)
|
|
|
|
if portrait:
|
|
starting_x = camera_aspect_x
|
|
else:
|
|
max_y = max(
|
|
max_y,
|
|
camera_aspect_y,
|
|
)
|
|
|
|
x += camera_aspect_x
|
|
else:
|
|
# move on to the next row and insert
|
|
y += max_y
|
|
y_i += 1
|
|
camera_layout.append([])
|
|
x = starting_x
|
|
|
|
if x + camera_aspect_x > canvas_aspect_x:
|
|
return None
|
|
|
|
camera_layout[y_i].append(
|
|
(
|
|
camera,
|
|
camera_aspect_x / camera_aspect_y,
|
|
)
|
|
)
|
|
x += camera_aspect_x
|
|
|
|
if y + max_y > canvas_aspect_y:
|
|
return None
|
|
|
|
row_height = int(self.canvas.height / coefficient)
|
|
total_width, total_height, standard_candidate_layout = map_layout(
|
|
camera_layout, row_height
|
|
)
|
|
|
|
if not standard_candidate_layout:
|
|
# if standard layout didn't work
|
|
# try reducing row_height by the % overflow
|
|
scale_down_percent = max(
|
|
total_width / self.canvas.width,
|
|
total_height / self.canvas.height,
|
|
)
|
|
row_height = int(row_height / scale_down_percent)
|
|
total_width, total_height, standard_candidate_layout = map_layout(
|
|
camera_layout, row_height
|
|
)
|
|
|
|
if not standard_candidate_layout:
|
|
return None
|
|
|
|
# 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 * scale_up_percent)
|
|
_, _, scaled_layout = map_layout(camera_layout, row_height)
|
|
|
|
if scaled_layout:
|
|
return scaled_layout
|
|
else:
|
|
return standard_candidate_layout
|
|
|
|
def update(
|
|
self,
|
|
camera: str,
|
|
object_count: int,
|
|
motion_count: int,
|
|
frame_time: float,
|
|
frame: np.ndarray,
|
|
) -> bool:
|
|
# don't process if birdseye is disabled for this camera
|
|
camera_config = self.config.cameras[camera].birdseye
|
|
force_update = False
|
|
|
|
# disabling birdseye is a little tricky
|
|
if not self._get_enabled_state(camera):
|
|
# if we've rendered a frame (we have a value for last_active_frame)
|
|
# then we need to set it to zero
|
|
if self.cameras[camera]["last_active_frame"] > 0:
|
|
self.cameras[camera]["last_active_frame"] = 0
|
|
force_update = True
|
|
else:
|
|
return False
|
|
|
|
# update the last active frame for the camera
|
|
self.cameras[camera]["current_frame"] = frame.copy()
|
|
self.cameras[camera]["current_frame_time"] = 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 not force_update and (now - self.last_output_time) < 1 / 10:
|
|
return False
|
|
|
|
try:
|
|
updated_frame = self.update_frame(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 force_update or updated_frame or (now - self.last_output_time) > 1:
|
|
self.last_output_time = now
|
|
return True
|
|
return False
|
|
|
|
def stop(self):
|
|
"""Clean up subscribers when stopping."""
|
|
for subscriber in self.enabled_subscribers.values():
|
|
subscriber.stop()
|
|
|
|
|
|
class Birdseye:
|
|
def __init__(
|
|
self,
|
|
config: FrigateConfig,
|
|
stop_event: mp.Event,
|
|
websocket_server,
|
|
) -> None:
|
|
self.config = config
|
|
self.input = queue.Queue(maxsize=10)
|
|
self.converter = FFMpegConverter(
|
|
config.ffmpeg,
|
|
self.input,
|
|
stop_event,
|
|
config.birdseye.width,
|
|
config.birdseye.height,
|
|
config.birdseye.width,
|
|
config.birdseye.height,
|
|
config.birdseye.quality,
|
|
config.birdseye.restream,
|
|
)
|
|
self.broadcaster = BroadcastThread(
|
|
"birdseye", self.converter, websocket_server, stop_event
|
|
)
|
|
self.birdseye_manager = BirdsEyeFrameManager(config, stop_event)
|
|
self.config_subscriber = ConfigSubscriber("config/birdseye/")
|
|
self.frame_manager = SharedMemoryFrameManager()
|
|
self.stop_event = stop_event
|
|
|
|
if config.birdseye.restream:
|
|
self.birdseye_buffer = self.frame_manager.create(
|
|
"birdseye",
|
|
self.birdseye_manager.yuv_shape[0] * self.birdseye_manager.yuv_shape[1],
|
|
)
|
|
|
|
self.converter.start()
|
|
self.broadcaster.start()
|
|
|
|
def __send_new_frame(self) -> None:
|
|
frame_bytes = self.birdseye_manager.frame.tobytes()
|
|
|
|
if self.config.birdseye.restream:
|
|
self.birdseye_buffer[:] = frame_bytes
|
|
|
|
try:
|
|
self.input.put_nowait(frame_bytes)
|
|
except queue.Full:
|
|
# drop frames if queue is full
|
|
pass
|
|
|
|
def all_cameras_disabled(self) -> None:
|
|
self.birdseye_manager.clear_frame()
|
|
self.__send_new_frame()
|
|
|
|
def write_data(
|
|
self,
|
|
camera: str,
|
|
current_tracked_objects: list[dict[str, any]],
|
|
motion_boxes: list[list[int]],
|
|
frame_time: float,
|
|
frame: np.ndarray,
|
|
) -> None:
|
|
# check if there is an updated config
|
|
while True:
|
|
(
|
|
updated_topic,
|
|
updated_birdseye_config,
|
|
) = self.config_subscriber.check_for_update()
|
|
|
|
if not updated_topic:
|
|
break
|
|
|
|
camera_name = updated_topic.rpartition("/")[-1]
|
|
self.config.cameras[camera_name].birdseye = updated_birdseye_config
|
|
|
|
if self.birdseye_manager.update(
|
|
camera,
|
|
len([o for o in current_tracked_objects if not o["stationary"]]),
|
|
len(motion_boxes),
|
|
frame_time,
|
|
frame,
|
|
):
|
|
self.__send_new_frame()
|
|
|
|
def stop(self) -> None:
|
|
self.config_subscriber.stop()
|
|
self.birdseye_manager.stop()
|
|
self.converter.join()
|
|
self.broadcaster.join()
|