update config example

Dockerfile

@@ -1,107 +1,50 @@
-FROM ubuntu:18.04
-
-ARG DEVICE
+FROM debian:stretch-slim
+LABEL maintainer "blakeb@blakeshome.com"
 
+ENV DEBIAN_FRONTEND=noninteractive
 # Install packages for apt repo
-RUN apt-get -qq update && apt-get -qq install --no-install-recommends -y \
-    apt-transport-https \
-    ca-certificates \
-    curl \
-    wget \
-    gnupg-agent \
-    dirmngr \
-    software-properties-common \
-    && rm -rf /var/lib/apt/lists/*
+RUN apt -qq update && apt -qq install --no-install-recommends -y \
+    apt-transport-https ca-certificates \
+    gnupg wget \
+    ffmpeg \
+    python3 \
+    python3-pip \
+    python3-dev \
+    python3-numpy \
+    # python-prctl
+    build-essential libcap-dev \
+    # pillow-simd
+    # zlib1g-dev libjpeg-dev \
+    # VAAPI drivers for Intel hardware accel
+    i965-va-driver vainfo \
+    && echo "deb https://packages.cloud.google.com/apt coral-edgetpu-stable main" > /etc/apt/sources.list.d/coral-edgetpu.list \
+    && wget -q -O - https://packages.cloud.google.com/apt/doc/apt-key.gpg | apt-key add - \
+    && apt -qq update \
+    && echo "libedgetpu1-max libedgetpu/accepted-eula boolean true" | debconf-set-selections \
+    && apt -qq install --no-install-recommends -y \
+    libedgetpu1-max \
+    python3-edgetpu \
+    && rm -rf /var/lib/apt/lists/* \
+    && (apt-get autoremove -y; apt-get autoclean -y)
 
-COPY scripts/install_odroid_repo.sh .
+# needs to be installed before others
+RUN pip3 install -U wheel setuptools
 
-RUN if [ "$DEVICE" = "odroid" ]; then \
-      sh /install_odroid_repo.sh; \
-    fi
-
-RUN apt-get -qq update && apt-get -qq install --no-install-recommends -y \
- python3 \ 
- # OpenCV dependencies
- ffmpeg \
- build-essential \
- cmake \
- unzip \
- pkg-config \
- libjpeg-dev \
- libpng-dev \
- libtiff-dev \
- libavcodec-dev \
- libavformat-dev \
- libswscale-dev \
- libv4l-dev \
- libxvidcore-dev \
- libx264-dev \
- libgtk-3-dev \
- libatlas-base-dev \
- gfortran \
- python3-dev \
- # Coral USB Python API Dependencies
- libusb-1.0-0 \
- python3-pip \
- python3-pil \
- python3-numpy \
- libc++1 \
- libc++abi1 \
- libunwind8 \
- libgcc1 \
- # VAAPI drivers for Intel hardware accel
- libva-drm2 libva2 i965-va-driver vainfo \
- && rm -rf /var/lib/apt/lists/* 
-
-# Download & build OpenCV
-# TODO: use multistage build to reduce image size: 
-#   https://medium.com/@denismakogon/pain-and-gain-running-opencv-application-with-golang-and-docker-on-alpine-3-7-435aa11c7aec
-#   https://www.merixstudio.com/blog/docker-multi-stage-builds-python-development/
-RUN wget -q -P /usr/local/src/ --no-check-certificate https://github.com/opencv/opencv/archive/4.0.1.zip
-RUN cd /usr/local/src/ \
- && unzip 4.0.1.zip \
- && rm 4.0.1.zip \
- && cd /usr/local/src/opencv-4.0.1/ \
- && mkdir build \
- && cd /usr/local/src/opencv-4.0.1/build \ 
- && cmake -D CMAKE_INSTALL_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local/ .. \
- && make -j4 \
- && make install \
- && ldconfig \
- && rm -rf /usr/local/src/opencv-4.0.1
-
-# Download and install EdgeTPU libraries for Coral
-RUN wget https://dl.google.com/coral/edgetpu_api/edgetpu_api_latest.tar.gz -O edgetpu_api.tar.gz --trust-server-names \
-  && tar xzf edgetpu_api.tar.gz
-
-COPY scripts/install_edgetpu_api.sh edgetpu_api/install.sh
-
-RUN cd edgetpu_api \
-  && /bin/bash install.sh
-
-# Copy a python 3.6 version
-RUN cd /usr/local/lib/python3.6/dist-packages/edgetpu/swig/ \
-  && ln -s _edgetpu_cpp_wrapper.cpython-35m-arm-linux-gnueabihf.so _edgetpu_cpp_wrapper.cpython-36m-arm-linux-gnueabihf.so
+RUN pip3 install -U \
+    opencv-python-headless \
+    python-prctl \
+    Flask \
+    paho-mqtt \
+    PyYAML \
+    matplotlib \
+    scipy
 
 # symlink the model and labels
-RUN wget https://dl.google.com/coral/canned_models/mobilenet_ssd_v2_coco_quant_postprocess_edgetpu.tflite -O mobilenet_ssd_v2_coco_quant_postprocess_edgetpu.tflite --trust-server-names
-RUN wget https://dl.google.com/coral/canned_models/coco_labels.txt -O coco_labels.txt --trust-server-names
+RUN wget -q https://github.com/google-coral/edgetpu/raw/master/test_data/mobilenet_ssd_v2_coco_quant_postprocess_edgetpu.tflite -O mobilenet_ssd_v2_coco_quant_postprocess_edgetpu.tflite --trust-server-names
+RUN wget -q https://dl.google.com/coral/canned_models/coco_labels.txt -O coco_labels.txt --trust-server-names
 RUN ln -s mobilenet_ssd_v2_coco_quant_postprocess_edgetpu.tflite /frozen_inference_graph.pb
 RUN ln -s /coco_labels.txt /label_map.pbtext
 
-# Minimize image size 
-RUN (apt-get autoremove -y; \
-     apt-get autoclean -y)
-
-# Install core packages 
-RUN wget -q -O /tmp/get-pip.py --no-check-certificate https://bootstrap.pypa.io/get-pip.py && python3 /tmp/get-pip.py
-RUN  pip install -U pip \
- numpy \
- Flask \
- paho-mqtt \
- PyYAML \
- matplotlib
-
 WORKDIR /opt/frigate/
 ADD frigate frigate/
 COPY detect_objects.py .

benchmark.py

@@ -14,7 +14,7 @@ flattened_frame = np.expand_dims(frame, axis=0).flatten()
 detection_times = []
 
 for x in range(0, 1000):
-    objects = engine.DetectWithInputTensor(flattened_frame, threshold=0.1, top_k=3)
+    objects = engine.detect_with_input_tensor(flattened_frame, threshold=0.1, top_k=3)
     detection_times.append(engine.get_inference_time())
 
 print("Average inference time: " + str(statistics.mean(detection_times)))

config/config.example.yml

@@ -47,16 +47,24 @@ mqtt:
 #     - rgb24
 
 ####################
-# Global object configuration. Applies to all cameras and regions
-# unless overridden at the camera/region levels.
+# Global object configuration. Applies to all cameras
+# unless overridden at the camera levels.
 # Keys must be valid labels. By default, the model uses coco (https://dl.google.com/coral/canned_models/coco_labels.txt).
 # All labels from the model are reported over MQTT. These values are used to filter out false positives.
+# min_area (optional): minimum width*height of the bounding box for the detected person
+# max_area (optional): maximum width*height of the bounding box for the detected person
+# threshold (optional): The minimum decimal percentage (50% hit = 0.5) for the confidence from tensorflow
 ####################
 objects:
-  person:
-    min_area: 5000
-    max_area: 100000
-    threshold: 0.5
+  track:
+    - person
+    - car
+    - truck
+  filters:
+    person:
+      min_area: 5000
+      max_area: 100000
+      threshold: 0.5
 
 cameras:
   back:
@@ -91,18 +99,21 @@ cameras:
     ################
     take_frame: 1
 
+    ################
+    # Overrides for global object config
+    ################
     objects:
-      person:
-        min_area: 5000
-        max_area: 100000
-        threshold: 0.5
+      track:
+        - person
+      filters:
+        person:
+          min_area: 5000
+          max_area: 100000
+          threshold: 0.5
     
     ################
     # size: size of the region in pixels
     # x_offset/y_offset: position of the upper left corner of your region (top left of image is 0,0)
-    # min_person_area (optional): minimum width*height of the bounding box for the detected person
-    # max_person_area (optional): maximum width*height of the bounding box for the detected person
-    # threshold (optional): The minimum decimal percentage (50% hit = 0.5) for the confidence from tensorflow
     # Tips: All regions are resized to 300x300 before detection because the model is trained on that size.
     #       Resizing regions takes CPU power. Ideally, all regions should be as close to 300x300 as possible.
     #       Defining a region that goes outside the bounds of the image will result in errors.
@@ -111,18 +122,9 @@ cameras:
       - size: 350
         x_offset: 0
         y_offset: 300
-        objects:
-          car:
-            threshold: 0.2
       - size: 400
         x_offset: 350
         y_offset: 250
-        objects:
-          person:
-            min_area: 2000
       - size: 400
         x_offset: 750
         y_offset: 250
-        objects:
-          person:
-            min_area: 2000

detect_objects.py

@@ -3,11 +3,12 @@ import time
 import queue
 import yaml
 import numpy as np
-from flask import Flask, Response, make_response
+from flask import Flask, Response, make_response, jsonify
 import paho.mqtt.client as mqtt
 
 from frigate.video import Camera
 from frigate.object_detection import PreppedQueueProcessor
+from frigate.util import EventsPerSecond
 
 with open('/config/config.yml') as f:
     CONFIG = yaml.safe_load(f)
@@ -70,19 +71,23 @@ def main():
     client.connect(MQTT_HOST, MQTT_PORT, 60)
     client.loop_start()
     
-    # Queue for prepped frames, max size set to (number of cameras * 5)
-    max_queue_size = len(CONFIG['cameras'].items())*5
-    prepped_frame_queue = queue.Queue(max_queue_size)
+    # Queue for prepped frames, max size set to number of regions * 3
+    prepped_frame_queue = queue.Queue()
 
     cameras = {}
     for name, config in CONFIG['cameras'].items():
-        cameras[name] = Camera(name, FFMPEG_DEFAULT_CONFIG, GLOBAL_OBJECT_CONFIG, config, prepped_frame_queue, client, MQTT_TOPIC_PREFIX)
+        cameras[name] = Camera(name, FFMPEG_DEFAULT_CONFIG, GLOBAL_OBJECT_CONFIG, config, 
+            prepped_frame_queue, client, MQTT_TOPIC_PREFIX)
+
+    fps_tracker = EventsPerSecond()
 
     prepped_queue_processor = PreppedQueueProcessor(
         cameras,
-        prepped_frame_queue
+        prepped_frame_queue,
+        fps_tracker
     )
     prepped_queue_processor.start()
+    fps_tracker.start()
 
     for name, camera in cameras.items():
         camera.start()
@@ -96,18 +101,34 @@ def main():
         # return a healh
         return "Frigate is running. Alive and healthy!"
 
+    @app.route('/debug/stats')
+    def stats():
+        stats = {
+            'coral': {
+                'fps': fps_tracker.eps(),
+                'inference_speed': prepped_queue_processor.avg_inference_speed,
+                'queue_length': prepped_frame_queue.qsize()
+            }
+        }
+
+        for name, camera in cameras.items():
+            stats[name] = camera.stats()
+
+        return jsonify(stats)
+
     @app.route('/<camera_name>/<label>/best.jpg')
     def best(camera_name, label):
         if camera_name in cameras:
             best_frame = cameras[camera_name].get_best(label)
             if best_frame is None:
                 best_frame = np.zeros((720,1280,3), np.uint8)
+            best_frame = cv2.cvtColor(best_frame, cv2.COLOR_RGB2BGR)
             ret, jpg = cv2.imencode('.jpg', best_frame)
             response = make_response(jpg.tobytes())
             response.headers['Content-Type'] = 'image/jpg'
             return response
         else:
-            return f'Camera named {camera_name} not found', 404
+            return "Camera named {} not found".format(camera_name), 404
 
     @app.route('/<camera_name>')
     def mjpeg_feed(camera_name):
@@ -116,7 +137,7 @@ def main():
             return Response(imagestream(camera_name),
                             mimetype='multipart/x-mixed-replace; boundary=frame')
         else:
-            return f'Camera named {camera_name} not found', 404
+            return "Camera named {} not found".format(camera_name), 404
 
     def imagestream(camera_name):
         while True:

frigate/mqtt.py

@@ -1,41 +1,41 @@
 import json
 import cv2
 import threading
+import prctl
 from collections import Counter, defaultdict
+import itertools
 
 class MqttObjectPublisher(threading.Thread):
-    def __init__(self, client, topic_prefix, objects_parsed, detected_objects, best_frames):
+    def __init__(self, client, topic_prefix, camera):
         threading.Thread.__init__(self)
         self.client = client
         self.topic_prefix = topic_prefix
-        self.objects_parsed = objects_parsed
-        self._detected_objects = detected_objects
-        self.best_frames = best_frames
+        self.camera = camera
 
     def run(self):
+        prctl.set_name(self.__class__.__name__)
         current_object_status = defaultdict(lambda: 'OFF')
         while True:
-            # wait until objects have been parsed
-            with self.objects_parsed:
-                self.objects_parsed.wait()
+            # wait until objects have been tracked
+            with self.camera.objects_tracked:
+                self.camera.objects_tracked.wait()
 
-            # make a copy of detected objects
-            detected_objects = self._detected_objects.copy()
-
-            # total up all scores by object type
+            # count objects with more than 2 entries in history by type
             obj_counter = Counter()
-            for obj in detected_objects:
-                obj_counter[obj['name']] += obj['score']
+            for obj in self.camera.object_tracker.tracked_objects.values():
+                if len(obj['history']) > 1:
+                    obj_counter[obj['name']] += 1
             
             # report on detected objects
-            for obj_name, total_score in obj_counter.items():
-                new_status = 'ON' if int(total_score*100) > 100 else 'OFF'
+            for obj_name, count in obj_counter.items():
+                new_status = 'ON' if count > 0 else 'OFF'
                 if new_status != current_object_status[obj_name]:
                     current_object_status[obj_name] = new_status
                     self.client.publish(self.topic_prefix+'/'+obj_name, new_status, retain=False)
                     # send the snapshot over mqtt if we have it as well
-                    if obj_name in self.best_frames.best_frames:
-                        ret, jpg = cv2.imencode('.jpg', self.best_frames.best_frames[obj_name])
+                    if obj_name in self.camera.best_frames.best_frames:
+                        best_frame = cv2.cvtColor(self.camera.best_frames.best_frames[obj_name], cv2.COLOR_RGB2BGR)
+                        ret, jpg = cv2.imencode('.jpg', best_frame)
                         if ret:
                             jpg_bytes = jpg.tobytes()
                             self.client.publish(self.topic_prefix+'/'+obj_name+'/snapshot', jpg_bytes, retain=True)
@@ -44,4 +44,11 @@ class MqttObjectPublisher(threading.Thread):
             expired_objects = [obj_name for obj_name, status in current_object_status.items() if status == 'ON' and not obj_name in obj_counter]
             for obj_name in expired_objects:
                 current_object_status[obj_name] = 'OFF'
-                self.client.publish(self.topic_prefix+'/'+obj_name, 'OFF', retain=False)
+                self.client.publish(self.topic_prefix+'/'+obj_name, 'OFF', retain=False)
+                # send updated snapshot snapshot over mqtt if we have it as well
+                if obj_name in self.camera.best_frames.best_frames:
+                    best_frame = cv2.cvtColor(self.camera.best_frames.best_frames[obj_name], cv2.COLOR_RGB2BGR)
+                    ret, jpg = cv2.imencode('.jpg', best_frame)
+                    if ret:
+                        jpg_bytes = jpg.tobytes()
+                        self.client.publish(self.topic_prefix+'/'+obj_name+'/snapshot', jpg_bytes, retain=True)

frigate/object_detection.py

@@ -2,12 +2,15 @@ import datetime
 import time
 import cv2
 import threading
+import copy
+import prctl
 import numpy as np
 from edgetpu.detection.engine import DetectionEngine
-from . util import tonumpyarray, LABELS, PATH_TO_CKPT
+
+from frigate.util import tonumpyarray, LABELS, PATH_TO_CKPT, calculate_region
 
 class PreppedQueueProcessor(threading.Thread):
-    def __init__(self, cameras, prepped_frame_queue):
+    def __init__(self, cameras, prepped_frame_queue, fps):
 
         threading.Thread.__init__(self)
         self.cameras = cameras
@@ -16,79 +19,121 @@ class PreppedQueueProcessor(threading.Thread):
         # Load the edgetpu engine and labels
         self.engine = DetectionEngine(PATH_TO_CKPT)
         self.labels = LABELS
+        self.fps = fps
+        self.avg_inference_speed = 10
 
     def run(self):
+        prctl.set_name(self.__class__.__name__)
         # process queue...
         while True:
             frame = self.prepped_frame_queue.get()
 
             # Actual detection.
-            objects = self.engine.DetectWithInputTensor(frame['frame'], threshold=0.5, top_k=5)
-            # print(self.engine.get_inference_time())
+            frame['detected_objects'] = self.engine.detect_with_input_tensor(frame['frame'], threshold=0.2, top_k=5)
+            self.fps.update()
+            self.avg_inference_speed = (self.avg_inference_speed*9 + self.engine.get_inference_time())/10
 
-            # parse and pass detected objects back to the camera
-            parsed_objects = []
-            for obj in objects:
-                parsed_objects.append({
-                            'region_id': frame['region_id'],
-                            'frame_time': frame['frame_time'],
-                            'name': str(self.labels[obj.label_id]),
-                            'score': float(obj.score),
-                            'box': obj.bounding_box.flatten().tolist()
-                        })
-            self.cameras[frame['camera_name']].add_objects(parsed_objects)
-
-
-# should this be a region class?
-class FramePrepper(threading.Thread):
-    def __init__(self, camera_name, shared_frame, frame_time, frame_ready, 
-        frame_lock,
-        region_size, region_x_offset, region_y_offset, region_id,
-        prepped_frame_queue):
+            self.cameras[frame['camera_name']].detected_objects_queue.put(frame)
 
+class RegionRequester(threading.Thread):
+    def __init__(self, camera):
         threading.Thread.__init__(self)
-        self.camera_name = camera_name
-        self.shared_frame = shared_frame
-        self.frame_time = frame_time
-        self.frame_ready = frame_ready
-        self.frame_lock = frame_lock
-        self.region_size = region_size
-        self.region_x_offset = region_x_offset
-        self.region_y_offset = region_y_offset
-        self.region_id = region_id
-        self.prepped_frame_queue = prepped_frame_queue
+        self.camera = camera
 
     def run(self):
+        prctl.set_name(self.__class__.__name__)
         frame_time = 0.0
         while True:
             now = datetime.datetime.now().timestamp()
 
-            with self.frame_ready:
+            with self.camera.frame_ready:
                 # if there isnt a frame ready for processing or it is old, wait for a new frame
-                if self.frame_time.value == frame_time or (now - self.frame_time.value) > 0.5:
-                    self.frame_ready.wait()
+                if self.camera.frame_time.value == frame_time or (now - self.camera.frame_time.value) > 0.5:
+                    self.camera.frame_ready.wait()
             
-            # make a copy of the cropped frame
-            with self.frame_lock:
-                cropped_frame = self.shared_frame[self.region_y_offset:self.region_y_offset+self.region_size, self.region_x_offset:self.region_x_offset+self.region_size].copy()
-                frame_time = self.frame_time.value
+            # make a copy of the frame_time
+            frame_time = self.camera.frame_time.value
+
+            # grab the current tracked objects
+            with self.camera.object_tracker.tracked_objects_lock:
+                tracked_objects = copy.deepcopy(self.camera.object_tracker.tracked_objects).values()
+
+            with self.camera.regions_in_process_lock:
+                self.camera.regions_in_process[frame_time] = len(self.camera.config['regions'])
+                self.camera.regions_in_process[frame_time] += len(tracked_objects)
+
+            for index, region in enumerate(self.camera.config['regions']):
+                self.camera.resize_queue.put({
+                    'camera_name': self.camera.name,
+                    'frame_time': frame_time,
+                    'region_id': index,
+                    'size': region['size'],
+                    'x_offset': region['x_offset'],
+                    'y_offset': region['y_offset']
+                })
             
+            # request a region for tracked objects
+            for tracked_object in tracked_objects:
+                box = tracked_object['box']
+                # calculate a new region that will hopefully get the entire object
+                (size, x_offset, y_offset) = calculate_region(self.camera.frame_shape, 
+                    box['xmin'], box['ymin'],
+                    box['xmax'], box['ymax'])
+
+                self.camera.resize_queue.put({
+                    'camera_name': self.camera.name,
+                    'frame_time': frame_time,
+                    'region_id': -1,
+                    'size': size,
+                    'x_offset': x_offset,
+                    'y_offset': y_offset
+                })
+
+
+class RegionPrepper(threading.Thread):
+    def __init__(self, camera, frame_cache, resize_request_queue, prepped_frame_queue):
+        threading.Thread.__init__(self)
+        self.camera = camera
+        self.frame_cache = frame_cache
+        self.resize_request_queue = resize_request_queue
+        self.prepped_frame_queue = prepped_frame_queue
+
+    def run(self):
+        prctl.set_name(self.__class__.__name__)
+        while True:
+
+            resize_request = self.resize_request_queue.get()
+
+            # if the queue is over 100 items long, only prep dynamic regions
+            if resize_request['region_id'] != -1 and self.prepped_frame_queue.qsize() > 100:
+                with self.camera.regions_in_process_lock:
+                    self.camera.regions_in_process[resize_request['frame_time']] -= 1
+                    if self.camera.regions_in_process[resize_request['frame_time']] == 0:
+                        del self.camera.regions_in_process[resize_request['frame_time']]
+                self.camera.skipped_region_tracker.update()
+                continue
+
+            frame = self.frame_cache.get(resize_request['frame_time'], None)
+            
+            if frame is None:
+                print("RegionPrepper: frame_time not in frame_cache")
+                with self.camera.regions_in_process_lock:
+                    self.camera.regions_in_process[resize_request['frame_time']] -= 1
+                    if self.camera.regions_in_process[resize_request['frame_time']] == 0:
+                        del self.camera.regions_in_process[resize_request['frame_time']]
+                self.camera.skipped_region_tracker.update()
+                continue
+
+            # make a copy of the region
+            cropped_frame = frame[resize_request['y_offset']:resize_request['y_offset']+resize_request['size'], resize_request['x_offset']:resize_request['x_offset']+resize_request['size']].copy()
+
             # Resize to 300x300 if needed
             if cropped_frame.shape != (300, 300, 3):
+                # TODO: use Pillow-SIMD?
                 cropped_frame = cv2.resize(cropped_frame, dsize=(300, 300), interpolation=cv2.INTER_LINEAR)
             # Expand dimensions since the model expects images to have shape: [1, 300, 300, 3]
             frame_expanded = np.expand_dims(cropped_frame, axis=0)
 
             # add the frame to the queue
-            if not self.prepped_frame_queue.full():
-                self.prepped_frame_queue.put({
-                    'camera_name': self.camera_name,
-                    'frame_time': frame_time,
-                    'frame': frame_expanded.flatten().copy(),
-                    'region_size': self.region_size,
-                    'region_id': self.region_id,
-                    'region_x_offset': self.region_x_offset,
-                    'region_y_offset': self.region_y_offset
-                })
-            else:
-                print("queue full. moving on")
+            resize_request['frame'] = frame_expanded.flatten().copy()
+            self.prepped_frame_queue.put(resize_request)

frigate/objects.py

@@ -2,82 +2,404 @@ import time
 import datetime
 import threading
 import cv2
+import prctl
+import itertools
+import copy
 import numpy as np
-from . util import draw_box_with_label
+import multiprocessing as mp
+from collections import defaultdict
+from scipy.spatial import distance as dist
+from frigate.util import draw_box_with_label, LABELS, compute_intersection_rectangle, compute_intersection_over_union, calculate_region
 
 class ObjectCleaner(threading.Thread):
-    def __init__(self, objects_parsed, detected_objects):
+    def __init__(self, camera):
         threading.Thread.__init__(self)
-        self._objects_parsed = objects_parsed
-        self._detected_objects = detected_objects
+        self.camera = camera
 
     def run(self):
+        prctl.set_name("ObjectCleaner")
         while True:
 
             # wait a bit before checking for expired frames
             time.sleep(0.2)
 
-            # expire the objects that are more than 1 second old
-            now = datetime.datetime.now().timestamp()
-            # look for the first object found within the last second
-            # (newest objects are appended to the end)
-            detected_objects = self._detected_objects.copy()
+            for frame_time in list(self.camera.detected_objects.keys()).copy():
+                if not frame_time in self.camera.frame_cache:
+                    del self.camera.detected_objects[frame_time]
+            
+            objects_deregistered = False
+            with self.camera.object_tracker.tracked_objects_lock:
+                now = datetime.datetime.now().timestamp()
+                for id, obj in list(self.camera.object_tracker.tracked_objects.items()):
+                    # if the object is more than 10 seconds old
+                    # and not in the most recent frame, deregister
+                    if (now - obj['frame_time']) > 10 and self.camera.object_tracker.most_recent_frame_time > obj['frame_time']:
+                        self.camera.object_tracker.deregister(id)
+                        objects_deregistered = True
+            
+            if objects_deregistered:
+                with self.camera.objects_tracked:
+                    self.camera.objects_tracked.notify_all()
 
-            num_to_delete = 0
+class DetectedObjectsProcessor(threading.Thread):
+    def __init__(self, camera):
+        threading.Thread.__init__(self)
+        self.camera = camera
+
+    def run(self):
+        prctl.set_name(self.__class__.__name__)
+        while True:
+            frame = self.camera.detected_objects_queue.get()
+
+            objects = frame['detected_objects']
+
+            for raw_obj in objects:
+                name = str(LABELS[raw_obj.label_id])
+
+                if not name in self.camera.objects_to_track:
+                    continue
+
+                obj = {
+                    'name': name,
+                    'score': float(raw_obj.score),
+                    'box': {
+                        'xmin': int((raw_obj.bounding_box[0][0] * frame['size']) + frame['x_offset']),
+                        'ymin': int((raw_obj.bounding_box[0][1] * frame['size']) + frame['y_offset']),
+                        'xmax': int((raw_obj.bounding_box[1][0] * frame['size']) + frame['x_offset']),
+                        'ymax': int((raw_obj.bounding_box[1][1] * frame['size']) + frame['y_offset'])
+                    },
+                    'region': {
+                        'xmin': frame['x_offset'],
+                        'ymin': frame['y_offset'],
+                        'xmax': frame['x_offset']+frame['size'],
+                        'ymax': frame['y_offset']+frame['size']
+                    },
+                    'frame_time': frame['frame_time'],
+                    'region_id': frame['region_id']
+                }
+                
+                # 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
+                obj['clipped'] = False
+                if ((obj['region']['xmin'] > 5 and obj['box']['xmin']-obj['region']['xmin'] <= 5) or 
+                    (obj['region']['ymin'] > 5 and obj['box']['ymin']-obj['region']['ymin'] <= 5) or
+                    (self.camera.frame_shape[1]-obj['region']['xmax'] > 5 and obj['region']['xmax']-obj['box']['xmax'] <= 5) or
+                    (self.camera.frame_shape[0]-obj['region']['ymax'] > 5 and obj['region']['ymax']-obj['box']['ymax'] <= 5)):
+                    obj['clipped'] = True
+                
+                # Compute the area
+                obj['area'] = (obj['box']['xmax']-obj['box']['xmin'])*(obj['box']['ymax']-obj['box']['ymin'])
+
+                self.camera.detected_objects[frame['frame_time']].append(obj)
+            
+            with self.camera.regions_in_process_lock:
+                self.camera.regions_in_process[frame['frame_time']] -= 1
+                # print(f"{frame['frame_time']} remaining regions {self.camera.regions_in_process[frame['frame_time']]}")
+
+                if self.camera.regions_in_process[frame['frame_time']] == 0:
+                    del self.camera.regions_in_process[frame['frame_time']]
+                    # print(f"{frame['frame_time']} no remaining regions")
+                    self.camera.finished_frame_queue.put(frame['frame_time'])
+
+# Thread that checks finished frames for clipped objects and sends back
+# for processing if needed
+class RegionRefiner(threading.Thread):
+    def __init__(self, camera):
+        threading.Thread.__init__(self)
+        self.camera = camera
+
+    def run(self):
+        prctl.set_name(self.__class__.__name__)
+        while True:
+            frame_time = self.camera.finished_frame_queue.get()
+
+            detected_objects = self.camera.detected_objects[frame_time].copy()
+            # print(f"{frame_time} finished")
+
+            # group by name
+            detected_object_groups = defaultdict(lambda: [])
             for obj in detected_objects:
-                if now-obj['frame_time']<2:
-                    break
-                num_to_delete += 1
-            if num_to_delete > 0:
-                del self._detected_objects[:num_to_delete]
+                detected_object_groups[obj['name']].append(obj)
 
-                # notify that parsed objects were changed
-                with self._objects_parsed:
-                    self._objects_parsed.notify_all()
+            look_again = False
+            selected_objects = []
+            for group in detected_object_groups.values():
 
+                # apply non-maxima suppression to suppress weak, overlapping bounding boxes
+                boxes = [(o['box']['xmin'], o['box']['ymin'], o['box']['xmax']-o['box']['xmin'], o['box']['ymax']-o['box']['ymin'])
+                    for o in group]
+                confidences = [o['score'] for o in group]
+                idxs = cv2.dnn.NMSBoxes(boxes, confidences, 0.5, 0.4)
+
+                for index in idxs:
+                    obj = group[index[0]]
+                    selected_objects.append(obj)
+                    if obj['clipped']:
+                        box = obj['box']
+                        # calculate a new region that will hopefully get the entire object
+                        (size, x_offset, y_offset) = calculate_region(self.camera.frame_shape, 
+                            box['xmin'], box['ymin'],
+                            box['xmax'], box['ymax'])
+                        # print(f"{frame_time} new region: {size} {x_offset} {y_offset}")
+
+                        with self.camera.regions_in_process_lock:
+                            if not frame_time in self.camera.regions_in_process:
+                                self.camera.regions_in_process[frame_time] = 1
+                            else:
+                                self.camera.regions_in_process[frame_time] += 1
+
+                        # add it to the queue
+                        self.camera.resize_queue.put({
+                            'camera_name': self.camera.name,
+                            'frame_time': frame_time,
+                            'region_id': -1,
+                            'size': size,
+                            'x_offset': x_offset,
+                            'y_offset': y_offset
+                        })
+                        self.camera.dynamic_region_fps.update()
+                        look_again = True
+
+            # if we are looking again, then this frame is not ready for processing
+            if look_again:
+                # remove the clipped objects
+                self.camera.detected_objects[frame_time] = [o for o in selected_objects if not o['clipped']]
+                continue
+
+            # filter objects based on camera settings
+            selected_objects = [o for o in selected_objects if not self.filtered(o)]
+
+            self.camera.detected_objects[frame_time] = selected_objects
+            
+            # print(f"{frame_time} is actually finished")
+
+            # keep adding frames to the refined queue as long as they are finished
+            with self.camera.regions_in_process_lock:
+                while self.camera.frame_queue.qsize() > 0 and self.camera.frame_queue.queue[0] not in self.camera.regions_in_process:
+                    self.camera.last_processed_frame = self.camera.frame_queue.get()
+                    self.camera.refined_frame_queue.put(self.camera.last_processed_frame)
+
+    def filtered(self, obj):
+        object_name = obj['name']
+        
+        if object_name in self.camera.object_filters:
+            obj_settings = self.camera.object_filters[object_name]
+
+            # if the min area is larger than the
+            # detected object, don't add it to detected objects
+            if obj_settings.get('min_area',-1) > obj['area']:
+                return True
+            
+            # if the detected object is larger than the
+            # max area, don't add it to detected objects
+            if obj_settings.get('max_area', self.camera.frame_shape[0]*self.camera.frame_shape[1]) < obj['area']:
+                return True
+
+            # if the score is lower than the threshold, skip
+            if obj_settings.get('threshold', 0) > obj['score']:
+                return True
+        
+            # compute the coordinates of the object and make sure
+            # the location isnt outside the bounds of the image (can happen from rounding)
+            y_location = min(int(obj['box']['ymax']), len(self.camera.mask)-1)
+            x_location = min(int((obj['box']['xmax']-obj['box']['xmin'])/2.0)+obj['box']['xmin'], len(self.camera.mask[0])-1)
+
+            # if the object is in a masked location, don't add it to detected objects
+            if self.camera.mask[y_location][x_location] == [0]:
+                return True
+            
+            return False
+             
+    def has_overlap(self, new_obj, obj, overlap=.7):
+        # compute intersection rectangle with existing object and new objects region
+        existing_obj_current_region = compute_intersection_rectangle(obj['box'], new_obj['region'])
+
+        # compute intersection rectangle with new object and existing objects region
+        new_obj_existing_region = compute_intersection_rectangle(new_obj['box'], obj['region'])
+
+        # compute iou for the two intersection rectangles that were just computed
+        iou = compute_intersection_over_union(existing_obj_current_region, new_obj_existing_region)
+
+        # if intersection is greater than overlap
+        if iou > overlap:
+            return True
+        else:
+            return False
+    
+    def find_group(self, new_obj, groups):
+        for index, group in enumerate(groups):
+            for obj in group:
+                if self.has_overlap(new_obj, obj):
+                    return index
+        return None
+
+class ObjectTracker(threading.Thread):
+    def __init__(self, camera, max_disappeared):
+        threading.Thread.__init__(self)
+        self.camera = camera
+        self.tracked_objects = {}
+        self.tracked_objects_lock = mp.Lock()
+        self.most_recent_frame_time = None
+    
+    def run(self):
+        prctl.set_name(self.__class__.__name__)
+        while True:
+            frame_time = self.camera.refined_frame_queue.get()
+            with self.tracked_objects_lock:
+                self.match_and_update(self.camera.detected_objects[frame_time])
+                self.most_recent_frame_time = frame_time
+                self.camera.frame_output_queue.put((frame_time, copy.deepcopy(self.tracked_objects)))
+            if len(self.tracked_objects) > 0:
+                with self.camera.objects_tracked:
+                    self.camera.objects_tracked.notify_all()
+
+    def register(self, index, obj):
+        id = "{}-{}".format(str(obj['frame_time']), index)
+        obj['id'] = id
+        obj['top_score'] = obj['score']
+        self.add_history(obj)
+        self.tracked_objects[id] = obj
+
+    def deregister(self, id):
+        del self.tracked_objects[id]
+    
+    def update(self, id, new_obj):
+        self.tracked_objects[id].update(new_obj)
+        self.add_history(self.tracked_objects[id])
+        if self.tracked_objects[id]['score'] > self.tracked_objects[id]['top_score']:
+            self.tracked_objects[id]['top_score'] = self.tracked_objects[id]['score']
+    
+    def add_history(self, obj):
+        entry = {
+            'score': obj['score'],
+            'box': obj['box'],
+            'region': obj['region'],
+            'centroid': obj['centroid'],
+            'frame_time': obj['frame_time']
+        }
+        if 'history' in obj:
+            obj['history'].append(entry)
+        else:
+            obj['history'] = [entry]
+
+    def match_and_update(self, new_objects):
+        if len(new_objects) == 0:
+            return
+            
+        # group by name
+        new_object_groups = defaultdict(lambda: [])
+        for obj in new_objects:
+            new_object_groups[obj['name']].append(obj)
+        
+        # track objects for each label type
+        for label, group in new_object_groups.items():
+            current_objects = [o for o in self.tracked_objects.values() if o['name'] == label]
+            current_ids = [o['id'] for o in current_objects]
+            current_centroids = np.array([o['centroid'] for o in current_objects])
+
+            # compute centroids of new objects
+            for obj in group:
+                centroid_x = int((obj['box']['xmin']+obj['box']['xmax']) / 2.0)
+                centroid_y = int((obj['box']['ymin']+obj['box']['ymax']) / 2.0)
+                obj['centroid'] = (centroid_x, centroid_y)
+
+            if len(current_objects) == 0:
+                for index, obj in enumerate(group):
+                    self.register(index, obj)
+                return
+            
+            new_centroids = np.array([o['centroid'] for o in group])
+
+            # compute the distance between each pair of tracked
+            # centroids and new centroids, respectively -- our
+            # goal will be to match each new centroid to an existing
+            # object centroid
+            D = dist.cdist(current_centroids, new_centroids)
+
+            # in order to perform this matching we must (1) find the
+            # smallest value in each row and then (2) sort the row
+            # indexes based on their minimum values so that the row
+            # with the smallest value is at the *front* of the index
+            # list
+            rows = D.min(axis=1).argsort()
+
+            # next, we perform a similar process on the columns by
+            # finding the smallest value in each column and then
+            # sorting using the previously computed row index list
+            cols = D.argmin(axis=1)[rows]
+
+            # in order to determine if we need to update, register,
+            # or deregister an object we need to keep track of which
+            # of the rows and column indexes we have already examined
+            usedRows = set()
+            usedCols = set()
+
+            # loop over the combination of the (row, column) index
+            # tuples
+            for (row, col) in zip(rows, cols):
+                # if we have already examined either the row or
+                # column value before, ignore it
+                if row in usedRows or col in usedCols:
+                    continue
+
+                # otherwise, grab the object ID for the current row,
+                # set its new centroid, and reset the disappeared
+                # counter
+                objectID = current_ids[row]
+                self.update(objectID, group[col])
+
+                # indicate that we have examined each of the row and
+                # column indexes, respectively
+                usedRows.add(row)
+                usedCols.add(col)
+
+            # compute the column index we have NOT yet examined
+            unusedCols = set(range(0, D.shape[1])).difference(usedCols)
+
+            # if the number of input centroids is greater
+            # than the number of existing object centroids we need to
+            # register each new input centroid as a trackable object
+            # if D.shape[0] < D.shape[1]:
+            for col in unusedCols:
+                self.register(col, group[col])
 
 # Maintains the frame and object with the highest score
 class BestFrames(threading.Thread):
-    def __init__(self, objects_parsed, recent_frames, detected_objects):
+    def __init__(self, camera):
         threading.Thread.__init__(self)
-        self.objects_parsed = objects_parsed
-        self.recent_frames = recent_frames
-        self.detected_objects = detected_objects
+        self.camera = camera
         self.best_objects = {}
         self.best_frames = {}
 
     def run(self):
+        prctl.set_name(self.__class__.__name__)
         while True:
+            # wait until objects have been tracked
+            with self.camera.objects_tracked:
+                self.camera.objects_tracked.wait()
 
-            # wait until objects have been parsed
-            with self.objects_parsed:
-                self.objects_parsed.wait()
+            # make a copy of tracked objects
+            tracked_objects = list(self.camera.object_tracker.tracked_objects.values())
 
-            # make a copy of detected objects
-            detected_objects = self.detected_objects.copy()
-
-            for obj in detected_objects:
+            for obj in tracked_objects:
                 if obj['name'] in self.best_objects:
                     now = datetime.datetime.now().timestamp()
                     # if the object is a higher score than the current best score 
                     # or the current object is more than 1 minute old, use the new object
                     if obj['score'] > self.best_objects[obj['name']]['score'] or (now - self.best_objects[obj['name']]['frame_time']) > 60:
-                        self.best_objects[obj['name']] = obj
+                        self.best_objects[obj['name']] = copy.deepcopy(obj)
                 else:
-                    self.best_objects[obj['name']] = obj
+                    self.best_objects[obj['name']] = copy.deepcopy(obj)
             
-            # make a copy of the recent frames
-            recent_frames = self.recent_frames.copy()
-
             for name, obj in self.best_objects.items():
-                if obj['frame_time'] in recent_frames:
-                    best_frame = recent_frames[obj['frame_time']] #, np.zeros((720,1280,3), np.uint8))
+                if obj['frame_time'] in self.camera.frame_cache:
+                    best_frame = self.camera.frame_cache[obj['frame_time']]
 
-                    draw_box_with_label(best_frame, obj['xmin'], obj['ymin'], 
-                        obj['xmax'], obj['ymax'], obj['name'], obj['score'], obj['area'])
+                    draw_box_with_label(best_frame, obj['box']['xmin'], obj['box']['ymin'], 
+                        obj['box']['xmax'], obj['box']['ymax'], obj['name'], "{}% {}".format(int(obj['score']*100), obj['area']))
                     
                     # print a timestamp
                     time_to_show = datetime.datetime.fromtimestamp(obj['frame_time']).strftime("%m/%d/%Y %H:%M:%S")
                     cv2.putText(best_frame, time_to_show, (10, 30), cv2.FONT_HERSHEY_SIMPLEX, fontScale=.8, color=(255, 255, 255), thickness=2)
                     
-                    self.best_frames[name] = cv2.cvtColor(best_frame, cv2.COLOR_RGB2BGR)
+                    self.best_frames[name] = best_frame

frigate/util.py

@@ -1,5 +1,8 @@
+import datetime
+import collections
 import numpy as np
 import cv2
+import threading
 import matplotlib.pyplot as plt
 
 # Function to read labels from text files.
@@ -12,16 +15,73 @@ def ReadLabelFile(file_path):
         ret[int(pair[0])] = pair[1].strip()
     return ret
 
+def calculate_region(frame_shape, xmin, ymin, xmax, ymax):    
+    # size is larger than longest edge
+    size = int(max(xmax-xmin, ymax-ymin)*2)
+    # 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 (size, x_offset, y_offset)
+
+def compute_intersection_rectangle(box_a, box_b):
+    return {
+        'xmin': max(box_a['xmin'], box_b['xmin']),
+        'ymin': max(box_a['ymin'], box_b['ymin']),
+        'xmax': min(box_a['xmax'], box_b['xmax']),
+        'ymax': min(box_a['ymax'], box_b['ymax'])
+    }
+    
+def compute_intersection_over_union(box_a, box_b):
+    # determine the (x, y)-coordinates of the intersection rectangle
+    intersect = compute_intersection_rectangle(box_a, box_b)
+
+    # compute the area of intersection rectangle
+    inter_area = max(0, intersect['xmax'] - intersect['xmin'] + 1) * max(0, intersect['ymax'] - intersect['ymin'] + 1)
+
+    if inter_area == 0:
+        return 0.0
+    
+    # compute the area of both the prediction and ground-truth
+    # rectangles
+    box_a_area = (box_a['xmax'] - box_a['xmin'] + 1) * (box_a['ymax'] - box_a['ymin'] + 1)
+    box_b_area = (box_b['xmax'] - box_b['xmin'] + 1) * (box_b['ymax'] - box_b['ymin'] + 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
+
 # convert shared memory array into numpy array
 def tonumpyarray(mp_arr):
     return np.frombuffer(mp_arr.get_obj(), dtype=np.uint8)
 
-def draw_box_with_label(frame, x_min, y_min, x_max, y_max, label, score, area):
-    color = COLOR_MAP[label]
-    display_text = "{}: {}% {}".format(label,int(score*100),int(area))
+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 = COLOR_MAP[label]
+    display_text = "{}: {}".format(label, info)
     cv2.rectangle(frame, (x_min, y_min), 
         (x_max, y_max), 
-        color, 2)
+        color, thickness)
     font_scale = 0.5
     font = cv2.FONT_HERSHEY_SIMPLEX
     # get the width and height of the text box
@@ -30,8 +90,18 @@ def draw_box_with_label(frame, x_min, y_min, x_max, y_max, label, score, area):
     text_height = size[0][1]
     line_height = text_height + size[1]
     # set the text start position
-    text_offset_x = x_min
-    text_offset_y = 0 if y_min < line_height else y_min - (line_height+8)
+    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)
@@ -47,4 +117,45 @@ cmap = plt.cm.get_cmap('tab10', len(LABELS.keys()))
 
 COLOR_MAP = {}
 for key, val in LABELS.items():
-    COLOR_MAP[val] = tuple(int(round(255 * c)) for c in cmap(key)[:3])
+    COLOR_MAP[val] = tuple(int(round(255 * c)) for c in cmap(key)[:3])
+
+class QueueMerger():
+    def __init__(self, from_queues, to_queue):
+        self.from_queues = from_queues
+        self.to_queue = to_queue
+        self.merge_threads = []
+
+    def start(self):
+        for from_q in self.from_queues:
+            self.merge_threads.append(QueueTransfer(from_q,self.to_queue))
+
+class QueueTransfer(threading.Thread):
+    def __init__(self, from_queue, to_queue):
+        threading.Thread.__init__(self)
+        self.from_queue = from_queue
+        self.to_queue = to_queue
+
+    def run(self):
+        while True:
+            self.to_queue.put(self.from_queue.get())
+
+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):
+        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):
+		# 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

frigate/video.py

@@ -2,49 +2,43 @@ import os
 import time
 import datetime
 import cv2
+import queue
 import threading
 import ctypes
 import multiprocessing as mp
 import subprocess as sp
 import numpy as np
+import prctl
+import copy
+import itertools
 from collections import defaultdict
-from . util import tonumpyarray, draw_box_with_label
-from . object_detection import FramePrepper
-from . objects import ObjectCleaner, BestFrames
-from . mqtt import MqttObjectPublisher
+from frigate.util import tonumpyarray, LABELS, draw_box_with_label, calculate_region, EventsPerSecond
+from frigate.object_detection import RegionPrepper, RegionRequester
+from frigate.objects import ObjectCleaner, BestFrames, DetectedObjectsProcessor, RegionRefiner, ObjectTracker
+from frigate.mqtt import MqttObjectPublisher
 
-# Stores 2 seconds worth of frames when motion is detected so they can be used for other threads
+# Stores 2 seconds worth of frames so they can be used for other threads
 class FrameTracker(threading.Thread):
-    def __init__(self, shared_frame, frame_time, frame_ready, frame_lock, recent_frames):
+    def __init__(self, frame_time, frame_ready, frame_lock, recent_frames):
         threading.Thread.__init__(self)
-        self.shared_frame = shared_frame
         self.frame_time = frame_time
         self.frame_ready = frame_ready
         self.frame_lock = frame_lock
         self.recent_frames = recent_frames
-
+    
     def run(self):
-        frame_time = 0.0
+        prctl.set_name(self.__class__.__name__)
         while True:
-            now = datetime.datetime.now().timestamp()
             # wait for a frame
             with self.frame_ready:
-                # if there isnt a frame ready for processing or it is old, wait for a signal
-                if self.frame_time.value == frame_time or (now - self.frame_time.value) > 0.5:
-                    self.frame_ready.wait()
-            
-            # lock and make a copy of the frame
-            with self.frame_lock: 
-                frame = self.shared_frame.copy()
-                frame_time = self.frame_time.value
-            
-            # add the frame to recent frames
-            self.recent_frames[frame_time] = frame
+                self.frame_ready.wait()
 
             # delete any old frames
             stored_frame_times = list(self.recent_frames.keys())
-            for k in stored_frame_times:
-                if (now - k) > 2:
+            stored_frame_times.sort(reverse=True)
+            if len(stored_frame_times) > 100:
+                frames_to_delete = stored_frame_times[50:]
+                for k in frames_to_delete:
                     del self.recent_frames[k]
 
 def get_frame_shape(source):
@@ -66,13 +60,13 @@ class CameraWatchdog(threading.Thread):
         self.camera = camera
 
     def run(self):
-
+        prctl.set_name(self.__class__.__name__)
         while True:
             # wait a bit before checking
             time.sleep(10)
 
-            if (datetime.datetime.now().timestamp() - self.camera.frame_time.value) > 300:
-                print("last frame is more than 5 minutes old, restarting camera capture...")
+            if self.camera.frame_time.value != 0.0 and (datetime.datetime.now().timestamp() - self.camera.frame_time.value) > 300:
+                print(self.camera.name + ": last frame is more than 5 minutes old, restarting camera capture...")
                 self.camera.start_or_restart_capture()
                 time.sleep(5)
 
@@ -83,16 +77,17 @@ class CameraCapture(threading.Thread):
         self.camera = camera
 
     def run(self):
+        prctl.set_name(self.__class__.__name__)
         frame_num = 0
         while True:
             if self.camera.ffmpeg_process.poll() != None:
-                print("ffmpeg process is not running. exiting capture thread...")
+                print(self.camera.name + ": ffmpeg process is not running. exiting capture thread...")
                 break
 
             raw_image = self.camera.ffmpeg_process.stdout.read(self.camera.frame_size)
 
             if len(raw_image) == 0:
-                print("ffmpeg didnt return a frame. something is wrong. exiting capture thread...")
+                print(self.camera.name + ": ffmpeg didnt return a frame. something is wrong. exiting capture thread...")
                 break
 
             frame_num += 1
@@ -100,23 +95,51 @@ class CameraCapture(threading.Thread):
                 continue
 
             with self.camera.frame_lock:
+                # TODO: use frame_queue instead
                 self.camera.frame_time.value = datetime.datetime.now().timestamp()
-                
-                self.camera.current_frame[:] = (
+                self.camera.frame_cache[self.camera.frame_time.value] = (
                     np
                     .frombuffer(raw_image, np.uint8)
                     .reshape(self.camera.frame_shape)
                 )
+                self.camera.frame_queue.put(self.camera.frame_time.value)
             # Notify with the condition that a new frame is ready
             with self.camera.frame_ready:
                 self.camera.frame_ready.notify_all()
 
+            self.camera.fps.update()
+
+class VideoWriter(threading.Thread):
+    def __init__(self, camera):
+        threading.Thread.__init__(self)
+        self.camera = camera
+
+    def run(self):
+        prctl.set_name(self.__class__.__name__)
+        while True:
+            (frame_time, tracked_objects) = self.camera.frame_output_queue.get()
+            # if len(tracked_objects) == 0:
+            #     continue
+            # f = open(f"/debug/output/{self.camera.name}-{str(format(frame_time, '.8f'))}.jpg", 'wb')
+            # f.write(self.camera.frame_with_objects(frame_time, tracked_objects))
+            # f.close()
+
 class Camera:
     def __init__(self, name, ffmpeg_config, global_objects_config, config, prepped_frame_queue, mqtt_client, mqtt_prefix):
         self.name = name
         self.config = config
-        self.detected_objects = []
-        self.recent_frames = {}
+        self.detected_objects = defaultdict(lambda: [])
+        self.frame_cache = {}
+        self.last_processed_frame = None
+        # queue for re-assembling frames in order
+        self.frame_queue = queue.Queue()
+        # track how many regions have been requested for a frame so we know when a frame is complete
+        self.regions_in_process = {}
+        # Lock to control access
+        self.regions_in_process_lock = mp.Lock()
+        self.finished_frame_queue = queue.Queue()
+        self.refined_frame_queue = queue.Queue()
+        self.frame_output_queue = queue.Queue()
 
         self.ffmpeg = config.get('ffmpeg', {})
         self.ffmpeg_input = get_ffmpeg_input(self.ffmpeg['input'])
@@ -134,17 +157,23 @@ class Camera:
         self.mqtt_client = mqtt_client
         self.mqtt_topic_prefix = '{}/{}'.format(mqtt_prefix, self.name)
 
-        # create a numpy array for the current frame in initialize to zeros
-        self.current_frame = np.zeros(self.frame_shape, np.uint8)
         # create shared value for storing the frame_time
         self.frame_time = mp.Value('d', 0.0)
         # Lock to control access to the frame
         self.frame_lock = mp.Lock()
         # Condition for notifying that a new frame is ready
         self.frame_ready = mp.Condition()
-        # Condition for notifying that objects were parsed
-        self.objects_parsed = mp.Condition()
-        
+        # Condition for notifying that objects were tracked
+        self.objects_tracked = mp.Condition()
+
+        # Queue for prepped frames, max size set to (number of regions * 5)
+        self.resize_queue = queue.Queue()
+
+        # Queue for raw detected objects
+        self.detected_objects_queue = queue.Queue()
+        self.detected_objects_processor = DetectedObjectsProcessor(self)
+        self.detected_objects_processor.start()
+
         # initialize the frame cache
         self.cached_frame_with_objects = {
             'frame_bytes': [],
@@ -153,44 +182,57 @@ class Camera:
 
         self.ffmpeg_process = None
         self.capture_thread = None
+        self.fps = EventsPerSecond()
+        self.skipped_region_tracker = EventsPerSecond()
 
-        # for each region, create a separate thread to resize the region and prep for detection
-        self.detection_prep_threads = []
-        for index, region in enumerate(self.config['regions']):
-            region_objects = region.get('objects', {})
-            # build objects config for region
-            objects_with_config = set().union(global_objects_config.keys(), camera_objects_config.keys(), region_objects.keys())
-            merged_objects_config = defaultdict(lambda: {})
-            for obj in objects_with_config:
-                merged_objects_config[obj] = {**global_objects_config.get(obj,{}), **camera_objects_config.get(obj, {}), **region_objects.get(obj, {})}
-            
-            region['objects'] = merged_objects_config
+        # combine tracked objects lists
+        self.objects_to_track = set().union(global_objects_config.get('track', ['person', 'car', 'truck']), camera_objects_config.get('track', []))
 
-            self.detection_prep_threads.append(FramePrepper(
-                self.name,
-                self.current_frame,
-                self.frame_time,
-                self.frame_ready,
-                self.frame_lock,
-                region['size'], region['x_offset'], region['y_offset'], index,
-                prepped_frame_queue
-            ))
-        
-        # start a thread to store recent motion frames for processing
-        self.frame_tracker = FrameTracker(self.current_frame, self.frame_time, 
-            self.frame_ready, self.frame_lock, self.recent_frames)
+        # merge object filters
+        global_object_filters = global_objects_config.get('filters', {})
+        camera_object_filters = camera_objects_config.get('filters', {})
+        objects_with_config = set().union(global_object_filters.keys(), camera_object_filters.keys())
+        self.object_filters = {}
+        for obj in objects_with_config:
+            self.object_filters[obj] = {**global_object_filters.get(obj, {}), **camera_object_filters.get(obj, {})}
+
+        # start a thread to track objects
+        self.object_tracker = ObjectTracker(self, 10)
+        self.object_tracker.start()
+
+        # start a thread to write tracked frames to disk
+        self.video_writer = VideoWriter(self)
+        self.video_writer.start()
+
+        # start a thread to queue resize requests for regions
+        self.region_requester = RegionRequester(self)
+        self.region_requester.start()
+
+        # start a thread to cache recent frames for processing
+        self.frame_tracker = FrameTracker(self.frame_time, 
+            self.frame_ready, self.frame_lock, self.frame_cache)
         self.frame_tracker.start()
 
+        # start a thread to resize regions
+        self.region_prepper = RegionPrepper(self, self.frame_cache, self.resize_queue, prepped_frame_queue)
+        self.region_prepper.start()
+
         # start a thread to store the highest scoring recent frames for monitored object types
-        self.best_frames = BestFrames(self.objects_parsed, self.recent_frames, self.detected_objects)
+        self.best_frames = BestFrames(self)
         self.best_frames.start()
 
         # start a thread to expire objects from the detected objects list
-        self.object_cleaner = ObjectCleaner(self.objects_parsed, self.detected_objects)
+        self.object_cleaner = ObjectCleaner(self)
         self.object_cleaner.start()
 
+        # start a thread to refine regions when objects are clipped
+        self.dynamic_region_fps = EventsPerSecond()
+        self.region_refiner = RegionRefiner(self)
+        self.region_refiner.start()
+        self.dynamic_region_fps.start()
+
         # start a thread to publish object scores
-        mqtt_publisher = MqttObjectPublisher(self.mqtt_client, self.mqtt_topic_prefix, self.objects_parsed, self.detected_objects, self.best_frames)
+        mqtt_publisher = MqttObjectPublisher(self.mqtt_client, self.mqtt_topic_prefix, self)
         mqtt_publisher.start()
 
         # create a watchdog thread for capture process
@@ -232,6 +274,8 @@ class Camera:
         self.capture_thread = CameraCapture(self)
         print("Starting a new capture thread...")
         self.capture_thread.start()
+        self.fps.start()
+        self.skipped_region_tracker.start()
     
     def start_ffmpeg(self):
         ffmpeg_cmd = (['ffmpeg'] +
@@ -248,9 +292,6 @@ class Camera:
     
     def start(self):
         self.start_or_restart_capture()
-        # start the object detection prep threads
-        for detection_prep_thread in self.detection_prep_threads:
-            detection_prep_thread.start()
         self.watchdog.start()
     
     def join(self):
@@ -259,85 +300,54 @@ class Camera:
     def get_capture_pid(self):
         return self.ffmpeg_process.pid
     
-    def add_objects(self, objects):
-        if len(objects) == 0:
-            return
-
-        for obj in objects:
-            # find the matching region
-            region = self.regions[obj['region_id']]
-
-            # Compute some extra properties
-            obj.update({
-                'xmin': int((obj['box'][0] * region['size']) + region['x_offset']),
-                'ymin': int((obj['box'][1] * region['size']) + region['y_offset']),
-                'xmax': int((obj['box'][2] * region['size']) + region['x_offset']),
-                'ymax': int((obj['box'][3] * region['size']) + region['y_offset'])
-            })
-            
-            # Compute the area
-            obj['area'] = (obj['xmax']-obj['xmin'])*(obj['ymax']-obj['ymin'])
-
-            object_name = obj['name']
-
-            if object_name in region['objects']:
-                obj_settings = region['objects'][object_name]
-
-                # if the min area is larger than the
-                # detected object, don't add it to detected objects
-                if obj_settings.get('min_area',-1) > obj['area']:
-                    continue
-                
-                # if the detected object is larger than the
-                # max area, don't add it to detected objects
-                if obj_settings.get('max_area', region['size']**2) < obj['area']:
-                    continue
-
-                # if the score is lower than the threshold, skip
-                if obj_settings.get('threshold', 0) > obj['score']:
-                    continue
-            
-                # compute the coordinates of the object and make sure
-                # the location isnt outside the bounds of the image (can happen from rounding)
-                y_location = min(int(obj['ymax']), len(self.mask)-1)
-                x_location = min(int((obj['xmax']-obj['xmin'])/2.0)+obj['xmin'], len(self.mask[0])-1)
-
-                # if the object is in a masked location, don't add it to detected objects
-                if self.mask[y_location][x_location] == [0]:
-                    continue
-
-            self.detected_objects.append(obj)
-
-        with self.objects_parsed:
-            self.objects_parsed.notify_all()
-    
     def get_best(self, label):
         return self.best_frames.best_frames.get(label)
-    
-    def get_current_frame_with_objects(self):
-        # make a copy of the current detected objects
-        detected_objects = self.detected_objects.copy()
-        # lock and make a copy of the current frame
-        with self.frame_lock:
-            frame = self.current_frame.copy()
-            frame_time = self.frame_time.value
-        
-        if frame_time == self.cached_frame_with_objects['frame_time']:
-            return self.cached_frame_with_objects['frame_bytes']
 
-        # draw the bounding boxes on the screen
-        for obj in detected_objects:
-            draw_box_with_label(frame, obj['xmin'], obj['ymin'], obj['xmax'], obj['ymax'], obj['name'], obj['score'], obj['area'])
+    def stats(self):
+        return {
+            'camera_fps': self.fps.eps(60),
+            'resize_queue': self.resize_queue.qsize(),
+            'frame_queue': self.frame_queue.qsize(),
+            'finished_frame_queue': self.finished_frame_queue.qsize(),
+            'refined_frame_queue': self.refined_frame_queue.qsize(),
+            'regions_in_process': self.regions_in_process,
+            'dynamic_regions_per_sec': self.dynamic_region_fps.eps(),
+            'skipped_regions_per_sec': self.skipped_region_tracker.eps(60)
+        }
+    
+    def frame_with_objects(self, frame_time, tracked_objects=None):
+        if not frame_time in self.frame_cache:
+            frame = np.zeros(self.frame_shape, np.uint8)
+        else:
+            frame = self.frame_cache[frame_time].copy()
+            
+        detected_objects = self.detected_objects[frame_time].copy()
 
         for region in self.regions:
             color = (255,255,255)
             cv2.rectangle(frame, (region['x_offset'], region['y_offset']), 
                 (region['x_offset']+region['size'], region['y_offset']+region['size']), 
                 color, 2)
+
+        # draw the bounding boxes on the screen
+
+        if tracked_objects is None:
+            with self.object_tracker.tracked_objects_lock:
+                tracked_objects = copy.deepcopy(self.object_tracker.tracked_objects)
+
+        for obj in detected_objects:
+            draw_box_with_label(frame, obj['box']['xmin'], obj['box']['ymin'], obj['box']['xmax'], obj['box']['ymax'], obj['name'], "{}% {}".format(int(obj['score']*100), obj['area']), thickness=3)
         
+        for id, obj in tracked_objects.items():
+            color = (0, 255,0) if obj['frame_time'] == frame_time else (255, 0, 0)
+            draw_box_with_label(frame, obj['box']['xmin'], obj['box']['ymin'], obj['box']['xmax'], obj['box']['ymax'], obj['name'], id, color=color, thickness=1, position='bl')
+
         # print a timestamp
         time_to_show = datetime.datetime.fromtimestamp(frame_time).strftime("%m/%d/%Y %H:%M:%S")
         cv2.putText(frame, time_to_show, (10, 30), cv2.FONT_HERSHEY_SIMPLEX, fontScale=.8, color=(255, 255, 255), thickness=2)
+        
+        # print fps
+        cv2.putText(frame, str(self.fps.eps())+'FPS', (10, 60), cv2.FONT_HERSHEY_SIMPLEX, fontScale=.8, color=(255, 255, 255), thickness=2)
 
         # convert to BGR
         frame = cv2.cvtColor(frame, cv2.COLOR_RGB2BGR)
@@ -345,7 +355,14 @@ class Camera:
         # encode the image into a jpg
         ret, jpg = cv2.imencode('.jpg', frame)
 
-        frame_bytes = jpg.tobytes()
+        return jpg.tobytes()
+
+    def get_current_frame_with_objects(self):
+        frame_time = self.last_processed_frame
+        if frame_time == self.cached_frame_with_objects['frame_time']:
+            return self.cached_frame_with_objects['frame_bytes']
+
+        frame_bytes = self.frame_with_objects(frame_time)
 
         self.cached_frame_with_objects = {
             'frame_bytes': frame_bytes,

scripts/install_edgetpu_api.sh

@@ -1,50 +0,0 @@
-#!/bin/bash
-set -e
-
-CPU_ARCH=$(uname -m)
-OS_VERSION=$(uname -v)
-
-echo "CPU_ARCH ${CPU_ARCH}"
-echo "OS_VERSION ${OS_VERSION}"
-
-if [[ "${CPU_ARCH}" == "x86_64" ]]; then
-  echo "Recognized as Linux on x86_64."
-  LIBEDGETPU_SUFFIX=x86_64
-  HOST_GNU_TYPE=x86_64-linux-gnu
-elif [[ "${CPU_ARCH}" == "armv7l" ]]; then
-  echo "Recognized as Linux on ARM32 platform."
-  LIBEDGETPU_SUFFIX=arm32
-  HOST_GNU_TYPE=arm-linux-gnueabihf
-elif [[ "${CPU_ARCH}" == "aarch64" ]]; then
-  echo "Recognized as generic ARM64 platform."
-  LIBEDGETPU_SUFFIX=arm64
-  HOST_GNU_TYPE=aarch64-linux-gnu
-fi
-
-if [[ -z "${HOST_GNU_TYPE}" ]]; then
-  echo "Your platform is not supported."
-  exit 1
-fi
-
-echo "Using maximum operating frequency."
-LIBEDGETPU_SRC="libedgetpu/libedgetpu_${LIBEDGETPU_SUFFIX}.so"
-LIBEDGETPU_DST="/usr/lib/${HOST_GNU_TYPE}/libedgetpu.so.1.0"
-
-# Runtime library.
-echo "Installing Edge TPU runtime library [${LIBEDGETPU_DST}]..."
-if [[ -f "${LIBEDGETPU_DST}" ]]; then
-  echo "File already exists. Replacing it..."
-  rm -f "${LIBEDGETPU_DST}"
-fi
-
-cp -p "${LIBEDGETPU_SRC}" "${LIBEDGETPU_DST}"
-ldconfig
-echo "Done."
-
-# Python API.
-WHEEL=$(ls edgetpu-*-py3-none-any.whl 2>/dev/null)
-if [[ $? == 0 ]]; then
-  echo "Installing Edge TPU Python API..."
-  python3 -m pip install --no-deps "${WHEEL}"
-  echo "Done."
-fi

scripts/install_odroid_repo.sh

@@ -1,5 +0,0 @@
-#!/bin/bash
-
-apt-key adv --keyserver keyserver.ubuntu.com --recv-keys D986B59D
-
-echo "deb http://deb.odroid.in/5422-s bionic main" > /etc/apt/sources.list.d/odroid.list