feat: custom bot-sort based tracker
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ziesorx
parent
bd201acac1
commit
791f611f7d
8 changed files with 649 additions and 282 deletions
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@ -21,6 +21,34 @@ os.environ["OPENCV_FFMPEG_LOGLEVEL"] = "-8" # Suppress FFMPEG warnings
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logger = logging.getLogger(__name__)
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# Color codes for pretty logging
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class Colors:
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GREEN = '\033[92m'
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YELLOW = '\033[93m'
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RED = '\033[91m'
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BLUE = '\033[94m'
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PURPLE = '\033[95m'
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CYAN = '\033[96m'
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WHITE = '\033[97m'
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BOLD = '\033[1m'
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END = '\033[0m'
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def log_success(camera_id: str, message: str):
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"""Log success messages in green"""
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logger.info(f"{Colors.GREEN}[{camera_id}] {message}{Colors.END}")
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def log_warning(camera_id: str, message: str):
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"""Log warnings in yellow"""
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logger.warning(f"{Colors.YELLOW}[{camera_id}] {message}{Colors.END}")
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def log_error(camera_id: str, message: str):
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"""Log errors in red"""
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logger.error(f"{Colors.RED}[{camera_id}] {message}{Colors.END}")
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def log_info(camera_id: str, message: str):
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"""Log info in cyan"""
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logger.info(f"{Colors.CYAN}[{camera_id}] {message}{Colors.END}")
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# Removed watchdog logging configuration - no longer using file watching
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@ -56,7 +84,7 @@ class FFmpegRTSPReader:
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self.stop_event.clear()
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self.thread = threading.Thread(target=self._read_frames, daemon=True)
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self.thread.start()
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logger.info(f"Started FFmpeg reader for camera {self.camera_id}")
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log_success(self.camera_id, "Stream started")
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def stop(self):
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"""Stop the FFmpeg subprocess reader."""
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@ -69,61 +97,12 @@ class FFmpegRTSPReader:
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self.process.kill()
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if self.thread:
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self.thread.join(timeout=5.0)
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logger.info(f"Stopped FFmpeg reader for camera {self.camera_id}")
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log_info(self.camera_id, "Stream stopped")
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def _probe_stream_info(self):
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"""Probe stream to get resolution and other info."""
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try:
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cmd = [
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'ffprobe',
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'-v', 'quiet',
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'-print_format', 'json',
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'-show_streams',
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'-select_streams', 'v:0', # First video stream
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'-rtsp_transport', 'tcp',
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self.rtsp_url
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]
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result = subprocess.run(cmd, capture_output=True, text=True, timeout=10)
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if result.returncode != 0:
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logger.error(f"Camera {self.camera_id}: ffprobe failed (code {result.returncode})")
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if result.stderr:
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logger.error(f"Camera {self.camera_id}: ffprobe stderr: {result.stderr}")
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if result.stdout:
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logger.debug(f"Camera {self.camera_id}: ffprobe stdout: {result.stdout}")
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return None
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import json
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data = json.loads(result.stdout)
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if not data.get('streams'):
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logger.error(f"Camera {self.camera_id}: No video streams found")
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return None
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stream = data['streams'][0]
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width = stream.get('width')
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height = stream.get('height')
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if not width or not height:
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logger.error(f"Camera {self.camera_id}: Could not determine resolution")
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return None
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logger.info(f"Camera {self.camera_id}: Detected resolution {width}x{height}")
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return width, height
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except Exception as e:
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logger.error(f"Camera {self.camera_id}: Error probing stream: {e}")
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return None
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# Removed _probe_stream_info - BMP headers contain dimensions
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def _start_ffmpeg_process(self):
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"""Start FFmpeg subprocess outputting raw RGB frames to stdout pipe."""
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# First probe the stream to get resolution
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probe_result = self._probe_stream_info()
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if not probe_result:
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logger.error(f"Camera {self.camera_id}: Failed to probe stream info")
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return False
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self.actual_width, self.actual_height = probe_result
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"""Start FFmpeg subprocess outputting BMP frames to stdout pipe."""
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cmd = [
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'ffmpeg',
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# DO NOT REMOVE
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@ -131,17 +110,14 @@ class FFmpegRTSPReader:
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# '-hwaccel_device', '0',
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'-rtsp_transport', 'tcp',
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'-i', self.rtsp_url,
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'-f', 'rawvideo', # Raw video output instead of PPM
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'-pix_fmt', 'rgb24', # Raw RGB24 format
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'-f', 'image2pipe', # Output images to pipe
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'-vcodec', 'bmp', # BMP format with header containing dimensions
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# Use native stream resolution and framerate
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'-an', # No audio
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'-' # Output to stdout
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]
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try:
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# Log the FFmpeg command for debugging
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logger.info(f"Starting FFmpeg for camera {self.camera_id} with command: {' '.join(cmd)}")
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# Start FFmpeg with stdout pipe to read frames directly
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self.process = subprocess.Popen(
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cmd,
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@ -149,46 +125,60 @@ class FFmpegRTSPReader:
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stderr=subprocess.DEVNULL,
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bufsize=0 # Unbuffered for real-time processing
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)
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logger.info(f"Started FFmpeg process PID {self.process.pid} for camera {self.camera_id} -> stdout pipe (resolution: {self.actual_width}x{self.actual_height})")
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return True
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except Exception as e:
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logger.error(f"Failed to start FFmpeg for camera {self.camera_id}: {e}")
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log_error(self.camera_id, f"FFmpeg startup failed: {e}")
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return False
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def _read_raw_frame(self, pipe):
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"""Read raw RGB frame data from pipe with proper buffering."""
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def _read_bmp_frame(self, pipe):
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"""Read BMP frame from pipe - BMP header contains dimensions."""
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try:
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# Calculate frame size using actual detected dimensions
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frame_size = self.actual_width * self.actual_height * 3
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# Read BMP header (14 bytes file header + 40 bytes info header = 54 bytes minimum)
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header_data = b''
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bytes_to_read = 54
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# Read frame data in chunks until we have the complete frame
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frame_data = b''
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bytes_remaining = frame_size
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while len(header_data) < bytes_to_read:
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chunk = pipe.read(bytes_to_read - len(header_data))
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if not chunk:
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return None # Silent end of stream
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header_data += chunk
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while bytes_remaining > 0:
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chunk = pipe.read(bytes_remaining)
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if not chunk: # EOF
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if len(frame_data) == 0:
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logger.debug(f"Camera {self.camera_id}: No more data (stream ended)")
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else:
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logger.warning(f"Camera {self.camera_id}: Stream ended mid-frame: {len(frame_data)}/{frame_size} bytes")
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return None
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# Parse BMP header
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if header_data[:2] != b'BM':
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return None # Invalid format, skip frame silently
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frame_data += chunk
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bytes_remaining -= len(chunk)
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# Extract file size from header (bytes 2-5)
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import struct
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file_size = struct.unpack('<L', header_data[2:6])[0]
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# Convert raw RGB data to numpy array using actual dimensions
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frame_array = np.frombuffer(frame_data, dtype=np.uint8)
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frame_rgb = frame_array.reshape((self.actual_height, self.actual_width, 3))
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# Extract width and height from info header (bytes 18-21 and 22-25)
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width = struct.unpack('<L', header_data[18:22])[0]
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height = struct.unpack('<L', header_data[22:26])[0]
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# Convert RGB to BGR for OpenCV compatibility
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frame_bgr = cv2.cvtColor(frame_rgb, cv2.COLOR_RGB2BGR)
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# Read remaining file data
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remaining_size = file_size - 54
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remaining_data = b''
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return frame_bgr
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while len(remaining_data) < remaining_size:
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chunk = pipe.read(remaining_size - len(remaining_data))
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if not chunk:
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return None # Stream ended silently
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remaining_data += chunk
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except Exception as e:
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logger.error(f"Camera {self.camera_id}: Error reading raw frame: {e}")
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return None
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# Complete BMP data
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bmp_data = header_data + remaining_data
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# Use OpenCV to decode BMP directly from memory
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frame_array = np.frombuffer(bmp_data, dtype=np.uint8)
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frame = cv2.imdecode(frame_array, cv2.IMREAD_COLOR)
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if frame is None:
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return None # Decode failed silently
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return frame
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except Exception:
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return None # Error reading frame silently
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def _read_frames(self):
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"""Read frames directly from FFmpeg stdout pipe."""
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@ -200,51 +190,45 @@ class FFmpegRTSPReader:
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# Start FFmpeg if not running
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if not self.process or self.process.poll() is not None:
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if self.process and self.process.poll() is not None:
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logger.warning(f"FFmpeg process died for camera {self.camera_id}, restarting...")
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log_warning(self.camera_id, "Stream disconnected, reconnecting...")
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if not self._start_ffmpeg_process():
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time.sleep(5.0)
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continue
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logger.info(f"FFmpeg started for camera {self.camera_id}, reading frames from pipe...")
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# Read frames directly from FFmpeg stdout
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try:
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if self.process and self.process.stdout:
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# Read raw frame data
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frame = self._read_raw_frame(self.process.stdout)
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# Read BMP frame data
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frame = self._read_bmp_frame(self.process.stdout)
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if frame is None:
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continue
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# Call frame callback
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if self.frame_callback:
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self.frame_callback(self.camera_id, frame)
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logger.debug(f"Camera {self.camera_id}: Called frame callback with shape {frame.shape}")
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frame_count += 1
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# Log progress
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# Log progress every 60 seconds (quieter)
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current_time = time.time()
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if current_time - last_log_time >= 30:
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logger.info(f"Camera {self.camera_id}: {frame_count} frames processed via pipe")
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if current_time - last_log_time >= 60:
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log_success(self.camera_id, f"{frame_count} frames captured ({frame.shape[1]}x{frame.shape[0]})")
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last_log_time = current_time
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except Exception as e:
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logger.error(f"Camera {self.camera_id}: Error reading from pipe: {e}")
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except Exception:
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# Process might have died, let it restart on next iteration
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if self.process:
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self.process.terminate()
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self.process = None
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time.sleep(1.0)
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except Exception as e:
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logger.error(f"Camera {self.camera_id}: Error in pipe frame reading: {e}")
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except Exception:
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time.sleep(1.0)
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# Cleanup
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if self.process:
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self.process.terminate()
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logger.info(f"FFmpeg pipe reader ended for camera {self.camera_id}")
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logger = logging.getLogger(__name__)
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