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Motion detection plug-in model and analysis #175

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Oct 12, 2020
Merged

Motion detection plug-in model and analysis #175

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bcf3a21
Merge pull request #3 from techyian/dev
MV10 Aug 30, 2020
82627aa
Merge pull request #5 from techyian/dev
MV10 Aug 30, 2020
14298ad
motion algorithm plug-in model and live analysis
MV10 Sep 1, 2020
311147d
alter motion algorithm to output analysis frames to capture handler
MV10 Sep 8, 2020
391375f
remove auto pkg generation (don't break the build!)
MV10 Sep 8, 2020
c10fb33
image processing (convolution) using cell-based parallel processing
MV10 Sep 16, 2020
5fd1f0a
Merge branch 'dev' into motiondiff
MV10 Sep 16, 2020
883f0cb
restore fixes in commit 8b07ab3
MV10 Oct 6, 2020
20b591c
catch up to dev
MV10 Oct 6, 2020
b85084e
encoded image support
MV10 Oct 9, 2020
6ff0288
add cell counts for padded raw buffer dimensions
MV10 Oct 10, 2020
c18ece5
suppress callback if buffer length is zero
MV10 Oct 10, 2020
a2f47c7
fixes #187
MV10 Oct 11, 2020
7ca06e0
test that the source data is raw
MV10 Oct 11, 2020
62f7d02
copy cloned resolution into original context (TakePicture doesn't set…
MV10 Oct 11, 2020
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3 changes: 2 additions & 1 deletion src/MMALSharp.Common/MMALSharp.Common.csproj
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Expand Up @@ -17,7 +17,8 @@
<VersionPrefix>0.7.0</VersionPrefix>
<CodeAnalysisRuleSet>..\..\StyleCop.Analyzers.ruleset</CodeAnalysisRuleSet>
<DocumentationFile>bin\$(Configuration)\$(TargetFramework)\$(AssemblyName).xml</DocumentationFile>
<ProjectGuid>{65a1440e-72e1-4943-b469-5cfba8cb5633}</ProjectGuid> <!--Project guid for Sonar-->
<ProjectGuid>{65a1440e-72e1-4943-b469-5cfba8cb5633}</ProjectGuid>
<!--Project guid for Sonar-->
</PropertyGroup>
<PropertyGroup Condition="'$(Platform)'=='AnyCPU'">
<AllowUnsafeBlocks>True</AllowUnsafeBlocks>
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2 changes: 1 addition & 1 deletion src/MMALSharp.FFmpeg/Handlers/FFmpegCaptureHandler.cs
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Expand Up @@ -74,7 +74,7 @@ public static ExternalProcessCaptureHandler RawVideoToMP4(string directory, stri
{
Filename = "ffmpeg",
Arguments = $"-framerate {fps} -i - -b:v {bitrate}k -c copy -movflags +frag_keyframe+separate_moof+omit_tfhd_offset+empty_moov {directory.TrimEnd()}/{filename}.mp4",
EchoOutput = true,
EchoOutput = echoOutput,
DrainOutputDelayMs = 500, // default
TerminationSignals = ExternalProcessCaptureHandlerOptions.SignalsFFmpeg
};
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31 changes: 28 additions & 3 deletions src/MMALSharp.FFmpeg/Handlers/VLCCaptureHandler.cs
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Expand Up @@ -15,25 +15,50 @@ public static class VLCCaptureHandler
private static readonly string _VLCInternalMimeBoundaryName = "7b3cc56e5f51db803f790dad720ed50a";

/// <summary>
/// Listens for a request on the given port and begins streaming MJPEG images when a client connects.
/// Listens for a request on the given port and begins streaming MJPEG images when a client connects. Requires h.264 encoded I420 (YUV420p) as input.
/// </summary>
/// <param name="listenPort">The port to listen on. Defaults to 8554.</param>
/// <param name="echoOutput">Whether to echo stdout and stderr to the console or suppress it. Defaults to true.</param>
/// <param name="maxBitrate">Maximum output bitrate. If source data is available at a higher bitrate, VLC caps to this. Defaults to 2500 (25Mbps).</param>
/// <param name="maxFps">Maximum output framerate. If source data is available at a higher framerate, VLC caps to this. Defaults to 20.</param>
/// <returns>An initialized instance of <see cref="ExternalProcessCaptureHandler"/></returns>
public static ExternalProcessCaptureHandler StreamMJPEG(int listenPort = 8554, bool echoOutput = true, int maxBitrate = 2500, int maxFps = 20)
public static ExternalProcessCaptureHandler StreamH264asMJPEG(int listenPort = 8554, bool echoOutput = true, int maxBitrate = 2500, int maxFps = 20)
{
var opts = new ExternalProcessCaptureHandlerOptions
{
Filename = "cvlc",
Arguments = $"stream:///dev/stdin --sout \"#transcode{{vcodec=mjpg,vb={maxBitrate},fps={maxFps},acodec=none}}:standard{{access=http{{mime=multipart/x-mixed-replace;boundary=--{_VLCInternalMimeBoundaryName}}},mux=mpjpeg,dst=:{listenPort}/}}\" :demux=h264",
Arguments = $"stream:///dev/stdin --sout \"#transcode{{vcodec=mjpg,vb={maxBitrate},fps={maxFps},acodec=none}}:standard{{access=http{{mime=multipart/x-mixed-replace;boundary={_VLCInternalMimeBoundaryName}}},mux=mpjpeg,dst=:{listenPort}/}}\" :demux=h264",
EchoOutput = echoOutput,
DrainOutputDelayMs = 500, // default
TerminationSignals = ExternalProcessCaptureHandlerOptions.SignalsVLC
};

return new ExternalProcessCaptureHandler(opts);
}

/// <summary>
/// Listens for a request on the given port and begins streaming MJPEG images when a client connects. Requires raw RGB24 frames as input.
/// </summary>
/// <param name="width">The width of the raw frames. Defaults to 640.</param>
/// <param name="height">The height of the raw frames. Defaults to 480.</param>
/// <param name="fps">Expected FPS of the raw frames. Defaults to 24.</param>
/// <param name="listenPort">The port to listen on. Defaults to 8554.</param>
/// <param name="echoOutput">Whether to echo stdout and stderr to the console or suppress it. Defaults to true.</param>
/// <param name="maxBitrate">Maximum output bitrate. If source data is available at a higher bitrate, VLC caps to this. Defaults to 2500 (25Mbps).</param>
/// <param name="maxFps">Maximum output framerate. If source data is available at a higher framerate, VLC caps to this. Defaults to 20.</param>
/// <returns>An initialized instance of <see cref="ExternalProcessCaptureHandler"/></returns>
public static ExternalProcessCaptureHandler StreamRawRGB24asMJPEG(int width = 640, int height = 480, int fps = 24, int listenPort = 8554, bool echoOutput = true, int maxBitrate = 2500, int maxFps = 20)
{
var opts = new ExternalProcessCaptureHandlerOptions
{
Filename = "/bin/bash",
EchoOutput = true,
Arguments = $"-c \"ffmpeg -hide_banner -f rawvideo -c:v rawvideo -pix_fmt rgb24 -s:v {width}x{height} -r {fps} -i - -f h264 -c:v libx264 -preset ultrafast -tune zerolatency -vf format=yuv420p - | cvlc stream:///dev/stdin --sout '#transcode{{vcodec=mjpg,vb={maxBitrate},fps={maxFps},acodec=none}}:standard{{access=http{{mime=multipart/x-mixed-replace;boundary={_VLCInternalMimeBoundaryName}}},mux=mpjpeg,dst=:{listenPort}/}}' :demux=h264\"",
DrainOutputDelayMs = 500, // default = 500
TerminationSignals = ExternalProcessCaptureHandlerOptions.SignalsFFmpeg
};

return new ExternalProcessCaptureHandler(opts);
}
}
}
3 changes: 2 additions & 1 deletion src/MMALSharp.FFmpeg/MMALSharp.FFmpeg.csproj
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Expand Up @@ -17,7 +17,8 @@
<VersionPrefix>0.7.0</VersionPrefix>
<CodeAnalysisRuleSet>..\..\StyleCop.Analyzers.ruleset</CodeAnalysisRuleSet>
<DocumentationFile>bin\$(Configuration)\$(TargetFramework)\$(AssemblyName).xml</DocumentationFile>
<ProjectGuid>{0600c674-e587-4267-89f3-b52ae9591f80}</ProjectGuid> <!--Project guid for Sonar-->
<ProjectGuid>{0600c674-e587-4267-89f3-b52ae9591f80}</ProjectGuid>
<!--Project guid for Sonar-->
</PropertyGroup>
<PropertyGroup Condition="'$(Platform)'=='AnyCPU'">
<AllowUnsafeBlocks>True</AllowUnsafeBlocks>
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9 changes: 0 additions & 9 deletions src/MMALSharp.Processing/Handlers/ExternalProcessCaptureHandler.cs
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Expand Up @@ -112,15 +112,6 @@ public void PostProcess()
public string GetDirectory()
=> throw new NotImplementedException();

/// <summary>
/// Not used.
/// </summary>
/// <param name="allocSize">N/A.</param>
/// <returns>A NotImplementedException.</returns>
/// <exception cref="NotImplementedException"></exception>
public ProcessResult Process(uint allocSize)
=> throw new NotImplementedException();

/// <summary>
/// Writes frame data to the StandardInput stream for processing.
/// </summary>
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52 changes: 43 additions & 9 deletions src/MMALSharp.Processing/Handlers/FrameBufferCaptureHandler.cs
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Expand Up @@ -16,9 +16,8 @@ namespace MMALSharp.Handlers
/// </summary>
public class FrameBufferCaptureHandler : MemoryStreamCaptureHandler, IMotionCaptureHandler, IVideoCaptureHandler
{
private MotionConfig _motionConfig;
private bool _detectingMotion;
private FrameDiffAnalyser _motionAnalyser;
private FrameDiffDriver _driver;

private bool _waitForFullFrame = true;
private bool _writeFrameRequested = false;
Expand All @@ -45,6 +44,19 @@ public FrameBufferCaptureHandler()
: base()
{ }

/// <summary>
/// Creates a new <see cref="FrameBufferCaptureHandler"/> configured for motion detection using a raw video stream
/// where MMALStandalone.Instance is used (such as processing a pre-recorded file) rather than camera-based processing.
/// </summary>
/// <param name="motionConfig">The motion configuration.</param>
/// <param name="onDetect">A callback for when motion is detected.</param>
public FrameBufferCaptureHandler(MotionConfig motionConfig, Action onDetect)
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I'm assuming this additional constructor is used to replicate what MMALCamera.WithMotionDetection() does?

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By funny coincidence I was just looking at that myself, and I don't think it is needed. There was a point where I was trying to avoid modifying MotionConfig and I think it's left over from that. I will straighten it out.

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@MV10 MV10 Sep 15, 2020 •
edited
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Actually that constructor was useful when doing nothing but visualizing the motion detection analysis. Used in a simple configuration like this:

using (var shell = new ExternalProcessCaptureHandler(raw_to_mjpeg_stream))
using (var motion = new FrameBufferCaptureHandler(motionConfig, null))
using (var resizer = new MMALIspComponent())
{
    motionAlgorithm.EnableAnalysis(shell);

    resizer.ConfigureOutputPort<VideoPort>(0, new MMALPortConfig(MMALEncoding.RGB24, MMALEncoding.RGB24, width: 640, height: 480), motion);
    cam.Camera.VideoPort.ConnectTo(resizer);

    await cameraWarmupDelay(cam);
    var timeout = new CancellationTokenSource(TimeSpan.FromSeconds(seconds));
    await Task.WhenAll(new Task[]{
            shell.ProcessExternalAsync(timeout.Token),
            cam.ProcessAsync(cam.Camera.VideoPort, timeout.Token),
        }).ConfigureAwait(false);
}

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Oh I see I do explain one usage in the constructor summary, although it could be better, it does now also work with the camera (the example above is for streaming). I'll update the summary.

Creates a new configured for motion detection using a raw video stream where MMALStandalone.Instance is used (such as processing a pre-recorded file) rather than camera-based processing.

: base()
{
_driver = new FrameDiffDriver(motionConfig, onDetect);
_detectingMotion = true;
}

/// <summary>
/// Target directory when <see cref="WriteFrame"/> is invoked without a directory argument.
/// </summary>
Expand Down Expand Up @@ -99,7 +111,7 @@ public override void Process(ImageContext context)

if (_detectingMotion)
{
_motionAnalyser.Apply(context);
_driver.Apply(context);
}

// accumulate frame data in the underlying memory stream
Expand All @@ -122,22 +134,35 @@ public override void Process(ImageContext context)
/// <inheritdoc />
public void ConfigureMotionDetection(MotionConfig config, Action onDetect)
{
_motionConfig = config;
_motionAnalyser = new FrameDiffAnalyser(config, onDetect);
_driver = new FrameDiffDriver(config, onDetect);
this.EnableMotionDetection();
}

/// <inheritdoc />
public void EnableMotionDetection()
{
_detectingMotion = true;
_motionAnalyser?.ResetAnalyser();
if(_driver.OnDetectEnabled)
{
_detectingMotion = true;
_driver?.ResetAnalyser();
}
else
{
_driver.OnDetectEnabled = true;
}
}

/// <inheritdoc />
public void DisableMotionDetection()
public void DisableMotionDetection(bool disableCallbackOnly = false)
{
_detectingMotion = false;
if(disableCallbackOnly)
{
_driver.OnDetectEnabled = false;
}
else
{
_detectingMotion = false;
}
}

/// <inheritdoc />
Expand All @@ -158,5 +183,14 @@ private void WriteStreamToFile()
this.MostRecentFilename = filename;
this.MostRecentPathname = pathname;
}

// This is used for temporary local-development performance testing. See the
// commentedlines before and inside FrameDiffDriver around the Apply method.
// public override void Dispose()
// {
// long perf = (long)((float)_driver.totalElapsed / _driver.frameCounter);
// Console.WriteLine($"{perf} ms/frame, total {_driver.frameCounter} frames");
// base.Dispose();
// }
}
}
3 changes: 2 additions & 1 deletion src/MMALSharp.Processing/Handlers/IMotionCaptureHandler.cs
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Expand Up @@ -33,6 +33,7 @@ public interface IMotionCaptureHandler
/// <summary>
/// Disables motion detection. When configured, this will instruct the capture handler not to detect motion.
/// </summary>
void DisableMotionDetection();
/// <param name="disableCallbackOnly">When true, motion detection will continue but the OnDetect callback will not be invoked.</param>
void DisableMotionDetection(bool disableCallbackOnly = false);
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If a user calls this method and wants to re-enable the callback, how do they do this? Am I right in thinking they just modify OnDetectEnabled against a FrameDiffDriver instance?

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Calling EnableMotionDetection will re-enable the callback. I will add that to the parameter docs.

}
}
3 changes: 2 additions & 1 deletion src/MMALSharp.Processing/MMALSharp.Processing.csproj
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Expand Up @@ -18,7 +18,8 @@
<VersionPrefix>0.7.0</VersionPrefix>
<CodeAnalysisRuleSet>..\..\StyleCop.Analyzers.ruleset</CodeAnalysisRuleSet>
<DocumentationFile>bin\$(Configuration)\$(TargetFramework)\$(AssemblyName).xml</DocumentationFile>
<ProjectGuid>{dabc9991-56ad-4235-ba86-63def12c261a}</ProjectGuid> <!--Project guid for Sonar-->
<ProjectGuid>{dabc9991-56ad-4235-ba86-63def12c261a}</ProjectGuid>
<!--Project guid for Sonar-->
</PropertyGroup>

<PropertyGroup Condition=" '$(Configuration)' == 'Debug' ">
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