diff --git a/rtsp_service_ws_Zhihuishi.py b/rtsp_service_ws_Zhihuishi.py new file mode 100644 index 0000000..69c3472 --- /dev/null +++ b/rtsp_service_ws_Zhihuishi.py @@ -0,0 +1,870 @@ +# rtsp_service_kadian.py +# 融合 Kadian_Detect_1221.py + rtsp_service_ws.py +# 支持多路RTSP、抽帧、分段保存MP4、WebSocket推送图像与告警 + +import cv2 +import numpy as np +import os +import time +import threading +import queue +import yaml +import json +import base64 +import asyncio +import websockets +from dataclasses import dataclass +from typing import Dict, Any, Tuple, List +from datetime import datetime +from test_cam import get_camera_preview_url + +# -------------------------- Kadian 检测相关导入 -------------------------- +from npu_yolo_onnx_person_car_phone import YOLOv8_ONNX # 主检测模型（人/车/后备箱/手机） + +from yolox.tracker.byte_tracker import BYTETracker + + +# ========================= 配置区 ========================= +Person_Phone_Model = 'YOLO_Weight/person_phone_model.onnx' # 人和手机的检测模型 +Smoke_Model = 'YOLO_Weight/smoke_model.onnx' # 抽烟检测模型 + +person_phone_input_size = 1280 # 模型输入尺寸，与训练时的模型一致 +smoke_input_size = 1280 # 模型输入尺寸，与训练时的模型一致 + +# RTSP 服务配置 +RTSP_TARGET_FPS = 5.0 +FRAMES_PER_SEGMENT = 300 +WS_HOST = "0.0.0.0" +WS_PORT = 8771 +WS_PORT_2 = 8770 # 新增：第二个WebSocket端口 + + +# 新增：告警推送频率限制（秒） +ALERT_PUSH_INTERVAL = 5.0 # 相同action 5秒内仅推送一次 + +# WebSocket 客户端集合 +ws_clients = set() +ws_clients_2 = set() # 新增：第二个WebSocket客户端集合 + + +# ========================= 数据结构 ========================= +@dataclass +class CameraConfig: + id: int + name: str + index: str + rtsp_url: str + + +class ZhihuishiDetector: + def __init__(self): + # 模型加载 + + # 人和手机检测模型 + print(f"加载人和手机检测模型: {Person_Phone_Model}") + self.person_phone_detector = YOLOv8_ONNX(Person_Phone_Model, conf_threshold=0.6, iou_threshold=0.45, + input_size=person_phone_input_size) + + # 抽烟检测模型 + print(f"加载抽烟检测模型: {Smoke_Model}") + self.smoke_detector = YOLOv8_ONNX(Smoke_Model, conf_threshold=0.4, iou_threshold=0.65, + input_size=smoke_input_size) + + # ByteTracker + class TrackerArgs: + track_thresh = 0.25 + track_buffer = 30 + match_thresh = 0.8 + mot20 = False + + self.fps = RTSP_TARGET_FPS + + self.person_phone_tracker = BYTETracker(TrackerArgs(), frame_rate=self.fps) + self.smoke_tracker = BYTETracker(TrackerArgs(), frame_rate=self.fps) + + self.person_phone_track_role = {} + self.smoke_track_role = {} + + + # ========================================== + # 超参数设置 (Hyperparameters) + # ========================================== + + # 1. 业务判定时间阈值 + self.TIME_THRESHOLD_NOBODY = 2.0 # 无人在场判定时长 + + self.TIME_THRESHOLD_SMOKE = 1.0 # 抽烟判定时长 + self.TIME_TOLERANCE_SMOKE = 0.5 # 烟丢失缓冲时间（防抖动） + + self.TIME_THRESHOLD_PHONE = 1.0 # 玩手机判定时长 + self.TIME_TOLERANCE_PHONE = 0.5 # 手机丢失缓冲时间（防抖动） + + # 无人在场帧数阈值 + self.frame_thresh_nobody = int(self.TIME_THRESHOLD_NOBODY * self.fps) + + # 抽烟检测帧数阈值 + self.frame_thresh_smoke = int(self.TIME_THRESHOLD_SMOKE * self.fps) + self.frame_buffer_smoke = int(self.TIME_TOLERANCE_SMOKE * self.fps) + + # 手机检测帧数阈值 + self.frame_thresh_phone = int(self.TIME_THRESHOLD_PHONE * self.fps) + self.frame_buffer_phone = int(self.TIME_TOLERANCE_PHONE * self.fps) + + print(f"\n超参数设置:") + print(f" FPS: {self.fps:.2f}") + print(f" 判定 'Nobody' 需连续: {self.frame_thresh_nobody} 帧") + print(f" 判定 'Smoke Detected' 需累计检测: {self.frame_thresh_smoke} 帧") + print(f" 抽烟丢失缓冲帧数: {self.frame_buffer_smoke} 帧") + print(f" 判定 'Phone Detected' 需累计检测: {self.frame_thresh_phone} 帧") + print(f" 手机丢失缓冲帧数: {self.frame_buffer_phone} 帧") + + # ========================================== + # 状态变量初始化 + # ========================================== + + self.current_frame_idx = 0 + + # 无人在场检测状态变量 + self.cnt_frame_nobody = 0 + + # 手机检测状态变量 + self.phone_detection_frames = 0 # 连续检测到手机的帧数 + self.phone_missing_frames = 0 # 连续未检测到手机的帧数 + self.phone_alert_active = False # 手机报警是否激活 + + # 抽烟检测状态变量 + self.smoke_detection_frames = 0 # 连续检测到手机的帧数 + self.smoke_missing_frames = 0 # 连续未检测到手机的帧数 + self.smoke_alert_active = False # 手机报警是否激活 + + + def compute_iou(self,boxA, boxB): + # box = [x1, y1, x2, y2] + xA = max(boxA[0], boxB[0]) + yA = max(boxA[1], boxB[1]) + xB = min(boxA[2], boxB[2]) + yB = min(boxA[3], boxB[3]) + + interW = max(0, xB - xA) + interH = max(0, yB - yA) + interArea = interW * interH + + boxAArea = (boxA[2] - boxA[0]) * (boxA[3] - boxA[1]) + boxBArea = (boxB[2] - boxB[0]) * (boxB[3] - boxB[1]) + + unionArea = boxAArea + boxBArea - interArea + if unionArea == 0: + return 0.0 + + return interArea / unionArea + + def draw_alert(self, frame, text, color=(0, 0, 255), sub_text=None, offset_y=0): + """在右上角绘制警告文字 (支持垂直偏移，防止文字重叠)""" + font_scale = 1.5 + thickness = 3 + font = cv2.FONT_HERSHEY_SIMPLEX + + (text_w, text_h), _ = cv2.getTextSize(text, font, font_scale, thickness) + x = self.width - text_w - 20 + y = 50 + text_h + offset_y # 增加 Y 轴偏移 + + cv2.rectangle(frame, (x - 10, y - text_h - 10), (x + text_w + 10, y + 10), (0, 0, 0), -1) + cv2.putText(frame, text, (x, y), font, font_scale, color, thickness) + + if sub_text: + cv2.putText(frame, sub_text, (x, y + 40), font, 0.7, (200, 200, 200), 2) + + def process_frame(self, frame, camera_id: int, timestamp: float) -> Dict[str, Any]: + h, w = frame.shape[:2] + self.width, self.height = w, h + + self.current_frame_idx += 1 + + current_time_sec = timestamp + + # ========= 人和手机检测 ========= + person_phone_results = self.person_phone_detector(frame) + + # ========= 抽烟检测 ========= + smoke_results = self.smoke_detector(frame) + + person_phone_dets_xyxy = [] + person_phone_dets_roles = [] + person_phone_dets_for_tracker = [] + + smoke_dets_xyxy = [] + smoke_dets_roles = [] + smoke_dets_for_tracker = [] + + # ========= 当前帧所有警告列表（关键改动）========== + current_frame_alerts = [] # 每帧清空，重新收集 + + # 收集 人和手机的检测结果 + if person_phone_results: + for det in person_phone_results: + x1, y1, x2, y2, conf, cls_id = det # x1, y1, x2, y2为角点坐标，x1 y1为左上角，x2 y2为右下角 + person_phone_dets_xyxy.append([x1, y1, x2, y2]) + person_phone_dets_for_tracker.append([x1, y1, x2, y2, conf]) + if cls_id == 0: + person_phone_dets_roles.append("phone") + elif cls_id == 1: + person_phone_dets_roles.append("police") + + person_phone_dets = np.array(person_phone_dets_for_tracker, dtype=np.float32) if len( + person_phone_dets_for_tracker) else np.empty((0, 5)) + + person_phone_tracks = self.person_phone_tracker.update( + person_phone_dets, + [self.height, self.width], + [self.height, self.width] + ) + + # 收集 抽烟的检测结果 + if smoke_results: + for det in smoke_results: + x1, y1, x2, y2, conf, cls_id = det + smoke_dets_xyxy.append([x1, y1, x2, y2]) + smoke_dets_for_tracker.append([x1, y1, x2, y2, conf]) + if cls_id == 0: + smoke_dets_roles.append("smoke") + + smoke_dets = np.array(smoke_dets_for_tracker, dtype=np.float32) if len( + smoke_dets_for_tracker) else np.empty((0, 5)) + + smoke_tracks = self.smoke_tracker.update( + smoke_dets, + [self.height, self.width], + [self.height, self.width] + ) + + # ========= 单帧统计变量 ========= + current_person_count = 0 + current_phone_count = 0 + current_smoke_count = 0 + + # ========= 人和手机检测 ========= + for t in person_phone_tracks: + # print("t: {}".format(t)) + tid = t.track_id + # cls_id = -1 + + # IoU 匹配角色 + # IoU匹配跟踪ID和类别 + REVALIDATE_FRAME_INTERVAL = 10 + if (self.current_frame_idx % REVALIDATE_FRAME_INTERVAL == 0) or (tid not in self.person_phone_track_role): + #if tid not in self.person_phone_track_role: + best_iou = 0 + best_role = "unknown" + + t_box = list(map(float, t.tlbr)) # [x1,y1,x2,y2] + + for i, box in enumerate(person_phone_dets_xyxy): + iou_val = self.compute_iou(t_box, box) + if iou_val > best_iou: + best_iou = iou_val + best_role = person_phone_dets_roles[i] + if best_iou > 0.1: + self.person_phone_track_role[tid] = best_role + else: + self.person_phone_track_role[tid] = "unknown" + + role = self.person_phone_track_role.get(tid, "unknown") + cls_id = -1 + if role == "phone": + cls_id = 0 + elif role == "police": + cls_id = 1 + # print("tid: {}, role: {}, cls: {}".format(tid, role,cls_id)) + + x1, y1, x2, y2 = map(int, t.tlbr) + + cx, cy = (x1 + x2) // 2, (y1 + y2) // 2 + + color = None + label = None + + if cls_id == 0: # Person + current_phone_count += 1 + color = (255, 0, 255) + label = "Phone" + + elif cls_id == 1: # Phone（主模型已支持） + current_person_count += 1 + color = (0, 0, 139) + label = "Person" + + else: + color = (255, 255, 255) + label = "Unknown" + + # label = f"ID:{tid} IN" + + cv2.rectangle(frame, (x1, y1), (x2, y2), color, 2) + cv2.putText(frame, label, (x1, y1 - 10), cv2.FONT_HERSHEY_SIMPLEX, 0.6, color, 2) + + # ========= 抽烟检测 ========= + for t in smoke_tracks: + # print("t: {}".format(t)) + tid = t.track_id + # cls_id = -1 + + # IoU 匹配角色 + # IoU匹配跟踪ID和类别 + REVALIDATE_FRAME_INTERVAL = 10 + if (self.current_frame_idx % REVALIDATE_FRAME_INTERVAL == 0) or (tid not in self.smoke_track_role): + #if tid not in self.smoke_track_role: + best_iou = 0 + best_role = "unknown" + + t_box = list(map(float, t.tlbr)) # [x1,y1,x2,y2] + + for i, box in enumerate(smoke_dets_xyxy): + iou_val = self.compute_iou(t_box, box) + if iou_val > best_iou: + best_iou = iou_val + best_role = smoke_dets_roles[i] + # self.smoke_track_role[tid] = best_role + if best_iou > 0.1: + self.smoke_track_role[tid] = best_role + else: + self.smoke_track_role[tid] = "unknown" + + role = self.smoke_track_role.get(tid, "unknown") + cls_id = -1 + if role == "smoke": + cls_id = 0 + + x1, y1, x2, y2 = map(int, t.tlbr) + + cx, cy = (x1 + x2) // 2, (y1 + y2) // 2 + + color = None + label = None + + if cls_id == 0: # 抽烟 + current_smoke_count += 1 + color = (255, 255, 0) + label = "Smoke" + + else: + color = (255, 255, 255) + label = "Unknown" + + # label = f"ID:{tid} IN" + + cv2.rectangle(frame, (x1, y1), (x2, y2), color, 2) + cv2.putText(frame, label, (x1, y1 - 10), cv2.FONT_HERSHEY_SIMPLEX, 0.6, color, 2) + + # ========================================== + # 手机检测 + # ========================================== + if current_phone_count > 0: + # 检测到手机框 + self.phone_detection_frames += 1 + self.phone_missing_frames = 0 # 重置丢失计数器 + + # 当检测累计达到阈值时，激活报警 + if self.phone_detection_frames >= self.frame_thresh_phone: + self.phone_alert_active = True + else: + # 未检测到手机框 + self.phone_missing_frames += 1 + + # 如果之前检测到手机，重置检测计数器 + if self.phone_detection_frames > 0: + # 只有在连续丢失超过缓冲帧数时才重置 + if self.phone_missing_frames >= self.frame_buffer_phone: + self.phone_detection_frames = 0 + self.phone_alert_active = False + else: + # 从未检测到手机，保持状态 + pass + + # ========================================== + # 抽烟检测 + # ========================================== + if current_smoke_count > 0: + # 检测到抽烟框 + self.smoke_detection_frames += 1 + self.smoke_missing_frames = 0 # 重置丢失计数器 + + # 当检测累计达到阈值时，激活报警 + if self.smoke_detection_frames >= self.frame_thresh_smoke: + self.smoke_alert_active = True + else: + # 未检测到抽烟框 + self.smoke_missing_frames += 1 + + # 如果之前检测到抽烟，重置检测计数器 + if self.smoke_detection_frames > 0: + # 只有在连续丢失超过缓冲帧数时才重置 + if self.smoke_missing_frames >= self.frame_buffer_smoke: + self.smoke_detection_frames = 0 + self.smoke_alert_active = False + else: + # 从未检测到抽烟，保持状态 + pass + + # ========================================== + # 9. 业务逻辑判定 (Only One / Nobody) + # ========================================== + status_text = "" + + if current_person_count == 0: + self.cnt_frame_nobody += 1 + else: + self.cnt_frame_nobody = 0 + + # ========================================== + # 10. 收集并生成结构化警告（核心改动） + # ========================================== + + alert_offset = 0 + + # A. Playing Phone + if self.phone_alert_active: + duration_seconds = self.phone_detection_frames / self.fps + current_frame_alerts.append( + { + 'time': current_time_sec, + 'action': 'Playing Phone', + 'confidence': 1.0, # 固定为1.0（规则判定） + 'details': f"Detected for {duration_seconds:.1f}s" + } + ) + + # A. Playing Phone + if self.smoke_alert_active: + duration_seconds = self.smoke_detection_frames / self.fps + current_frame_alerts.append( + { + 'time': current_time_sec, + 'action': 'Smoke', + 'confidence': 1.0, # 固定为1.0（规则判定） + 'details': f"Detected for {duration_seconds:.1f}s" + } + ) + + + # D. Nobody Checking + elif self.cnt_frame_nobody >= self.frame_thresh_nobody: + current_frame_alerts.append({ + 'time': current_time_sec, + 'action': 'Nobody Checking', + 'confidence': 1.0, + 'details': 'No inspector present' + }) + + # ========================================== + # 11. 统一显示当前帧所有警告（可替换原分层显示） + # ========================================== + debug_info = f"Person: {current_person_count} | Phone: {current_phone_count} | Smoke: {current_smoke_count}" + cv2.putText(frame, debug_info, (20, 40), cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 255, 0), 2) + + # 统一警告显示区 + alert_y_start = 150 + for i, alert in enumerate(current_frame_alerts): + action = alert['action'] + details = alert.get('details', '') + color = (0, 0, 255) # 默认红色警告 + + if action == 'Nobody Checking': + color = (255, 255, 255) + elif action == 'Smoke': + color = (0, 0, 255) + elif action == 'Playing Phone': + color = (255, 0, 0) + + main_text = action + if details: + main_text += f" ({details})" + + y_pos = alert_y_start + i * 50 + cv2.rectangle(frame, (20, y_pos - 40), (900, y_pos + 10), (0, 0, 0), -1) + cv2.putText(frame, main_text, (30, y_pos), cv2.FONT_HERSHEY_SIMPLEX, 1.0, color, 2) + + return { + "image": frame, + + "alerts":current_frame_alerts + } + +# ========================= WebSocket 服务线程 ========================= +class WebSocketSender(threading.Thread): + def __init__(self, send_queue: queue.Queue, stop_event: threading.Event): + super().__init__(daemon=True) + self.send_queue = send_queue + self.stop_event = stop_event + + async def _ws_handler(self, websocket): + ws_clients.add(websocket) + try: + async for _ in websocket: + pass + finally: + ws_clients.discard(websocket) + + async def _broadcaster(self): + while not self.stop_event.is_set(): + try: + msg = await asyncio.to_thread(self.send_queue.get, timeout=0.5) + except queue.Empty: + continue + data = json.dumps(msg) + dead = [] + for ws in list(ws_clients): + try: + await ws.send(data) + except: + dead.append(ws) + for ws in dead: + ws_clients.discard(ws) + self.send_queue.task_done() + + async def _run_async(self): + async with websockets.serve(self._ws_handler, WS_HOST, WS_PORT): + print(f"[INFO] WebSocket server started at ws://{WS_HOST}:{WS_PORT}") + await self._broadcaster() + + def run(self): + asyncio.run(self._run_async()) + + +# ========================= WebSocket 服务线程2 ========================= +class WebSocketSender2(threading.Thread): + def __init__(self, send_queue: queue.Queue, stop_event: threading.Event): + super().__init__(daemon=True) + self.send_queue = send_queue + self.stop_event = stop_event + + async def _ws_handler(self, websocket): + ws_clients_2.add(websocket) + try: + async for _ in websocket: + pass + finally: + ws_clients_2.discard(websocket) + + async def _broadcaster(self): + while not self.stop_event.is_set(): + try: + msg = await asyncio.to_thread(self.send_queue.get, timeout=0.5) + except queue.Empty: + continue + data = json.dumps(msg) + dead = [] + for ws in list(ws_clients_2): + try: + await ws.send(data) + except: + dead.append(ws) + for ws in dead: + ws_clients_2.discard(ws) + self.send_queue.task_done() + + async def _run_async(self): + async with websockets.serve(self._ws_handler, WS_HOST, WS_PORT_2): + print(f"[INFO] WebSocket server 2 started at ws://{WS_HOST}:{WS_PORT_2}") + await self._broadcaster() + + def run(self): + asyncio.run(self._run_async()) + + +# ========================= RTSP 抓流线程 ========================= +class RTSPCaptureWorker(threading.Thread): + def __init__(self, camera_cfg: CameraConfig, raw_queue: queue.Queue, stop_event: threading.Event): + super().__init__(daemon=True) + self.camera_cfg = camera_cfg + self.raw_queue = raw_queue + self.stop_event = stop_event + # 添加重连计数器 + self.reconnect_count = 0 + self.max_reconnects = 5 + self.rtsp_url = "" + + def run(self): + while not self.stop_event.is_set(): + try: + + if self.reconnect_count >= self.max_reconnects: + print(f"[WARN] RTSP: {self.camera_cfg.name} reach max reconnects, refresh url") + self.reconnect_count = 0 + new_url = self.refresh_video_url() + if new_url: + self.rtsp_url = new_url + else: + print(f"[ERROR] refresh RTSP URL is empty, do nothing") + + # 检查rtsp_url是否为空或None，如果是则重新获取 + if not self.rtsp_url: + print(f"[WARN] RTSP URL is empty, refreshing...") + new_url = self.refresh_video_url() + if new_url: + self.rtsp_url = new_url + else: + print(f"[ERROR] RTSP URL is still empty, retrying in 5 seconds") + time.sleep(5) + continue + + # 方法1：使用TCP传输（更稳定） + rtsp_url = self.rtsp_url + if "?" not in rtsp_url: + rtsp_url += "?transport=tcp" # 强制TCP传输 + else: + rtsp_url += "&transport=tcp" + + # 方法2：添加更多FFmpeg参数 + cap = cv2.VideoCapture(rtsp_url, cv2.CAP_FFMPEG) + + # 方法3：设置缓冲区大小 + cap.set(cv2.CAP_PROP_BUFFERSIZE, 10) # 增加缓冲区 + + # 方法4：设置超时和重连参数 + os.environ["OPENCV_FFMPEG_CAPTURE_OPTIONS"] = \ + "rtsp_transport;tcp|buffer_size;1024000|max_delay;500000|stimeout;2000000" + + # 方法5：设置解码器flags，忽略解码错误 + # cap.set(cv2.CAP_PROP_HW_ACCELERATION, cv2.VIDEO_ACCELERATION_ANY) + + if not cap.isOpened(): + print(f"[ERROR] Cannot open RTSP: {self.rtsp_url}") + time.sleep(2) + self.reconnect_count += 1 + continue + + print(f"[INFO] Successfully opened RTSP: {self.name}") + self.reconnect_count = 0 # 重置重连计数 + + # # 设置帧率（可选） + # cap.set(cv2.CAP_PROP_FPS, 25) + + while not self.stop_event.is_set(): + ret, frame = cap.read() + if not ret: + # 检查流是否结束 + print(f"[WARN] Failed to read frame from {self.camera_cfg.name}") + + # 检查是否还有数据 + time.sleep(0.1) + # 尝试几次后重连 + break + + item = { + "camera_id": self.camera_cfg.id, + "camera_name": self.camera_cfg.name, + "timestamp": time.time(), + "frame": frame, + } + + try: + # 添加队列满时的处理 + if self.raw_queue.full(): + # 丢弃最旧的一帧 + try: + self.raw_queue.get_nowait() + self.raw_queue.task_done() + except queue.Empty: + pass + + self.raw_queue.put(item, timeout=0.5) + except queue.Full: + print(f"[WARN] Queue full, dropping frame from {self.camera_cfg.name}") + continue + + # 控制读取速度，避免过快 + time.sleep(0.02) # 约50ms间隔 + + cap.release() + + except Exception as e: + print(f"[ERROR] Error in RTSP capture for {self.camera_cfg.name}: {e}") + time.sleep(2) + self.reconnect_count += 1 + + if self.reconnect_count >= self.max_reconnects: + print(f"[ERROR] Max reconnects reached for {self.camera_cfg.name}, stopping.") + + def refresh_video_url(self): + """ + 重新通过视频ID获取视频URL，调用test_cam.py中的get_camera_preview_url方法 + + 返回: + str: 新的视频URL，如果获取失败则返回None + """ + try: + + # 获取视频ID（camera_cfg.index） + video_id = self.camera_cfg.index + + # 调用test_cam.py中的函数 + result = get_camera_preview_url(video_id) + + # 解析结果（与test_cam.py相同） + if 'data' in result and 'url' in result['data']: + new_url = result['data']['url'] + print(f"[INFO] get rtsp url success, URL: {new_url}") + return new_url + else: + print(f"[ERROR] get rtsp url failed: {result}") + return None + + except Exception as e: + print(f"[ERROR] get rtsp url error: {str(e)}") + return None + + +# ========================= 帧处理线程 ========================= +class FrameProcessorWorker(threading.Thread): + def __init__(self, + raw_frame_queue: "queue.Queue[Dict[str, Any]]", + ws_send_queue: "queue.Queue[Dict[str, Any]]", + ws_send_queue_2: "queue.Queue[Dict[str, Any]]", + stop_event: threading.Event): + super().__init__(daemon=True) + self.raw_queue = raw_frame_queue + self.ws_queue = ws_send_queue + self.ws_queue_2 = ws_send_queue_2 # 新增：第二个WebSocket队列 + self.stop_event = stop_event + + self.last_ts: Dict[int, float] = {} + + # 每个摄像头一个独立的 Kadian 检测器实例 + self.kadian_detectors: Dict[int, ZhihuishiDetector] = {} + + # 新增：维护每个摄像头每个action的最后推送时间 {camera_id: {action: last_push_time}} + self.last_alert_push_time: Dict[int, Dict[str, float]] = {} + + + + def _encode_image_to_base64(self, image) -> str: + ok, buf = cv2.imencode(".jpg", image) + if not ok: + raise RuntimeError("Failed to encode image to JPEG") + return base64.b64encode(buf.tobytes()).decode("ascii") + + def run(self): + target_interval = 1.0 / RTSP_TARGET_FPS + while not self.stop_event.is_set(): + try: + item = self.raw_queue.get(timeout=0.5) + except queue.Empty: + continue + + cam_id = item["camera_id"] + ts = item["timestamp"] + frame = item["frame"] + + # 抽帧控制 + if ts - self.last_ts.get(cam_id, 0) < target_interval: + self.raw_queue.task_done() + continue + self.last_ts[cam_id] = ts + + # 获取检测器实例 + if cam_id not in self.kadian_detectors: + self.kadian_detectors[cam_id] = ZhihuishiDetector() + detector = self.kadian_detectors[cam_id] + + # 执行检测 + result = detector.process_frame(frame.copy(), cam_id, ts) + + result_img = result["image"] + result_type = result["alerts"] + + # ========= 核心修改：过滤5秒内重复的action ========= + # 初始化当前摄像头的推送时间记录 + if cam_id not in self.last_alert_push_time: + self.last_alert_push_time[cam_id] = {} + + # 筛选出符合推送条件的action（5秒内未推送过） + push_actions = [] + current_time = time.time() + for alert in result_type: + action = alert['action'] + last_push = self.last_alert_push_time[cam_id].get(action, 0) + # 检查是否超过推送间隔 + if current_time - last_push >= ALERT_PUSH_INTERVAL: + push_actions.append(action) + # 更新该action的最后推送时间 + self.last_alert_push_time[cam_id][action] = current_time + + # 通过 WebSocket 发送帧结果 + try: + img_b64 = self._encode_image_to_base64(result_img) + except Exception as e: + print(f"[ERROR] Encode image failed: {e}") + img_b64 = None + + if img_b64 is not None: + # 将abnormal_actions对象数组转换为字符串数组 + #action_names = [action_info['action'] for action_info in push_actions] + + msg = { + "msg_type": "frame", + "camera_id": 1, + "timestamp": ts, + #"result_type": action_names, + "result_type": push_actions, + "image_base64": img_b64, + } + try: + self.ws_queue.put(msg, timeout=1.0) + #if action_names and len(action_names) > 0: + if push_actions and len(push_actions) > 0: + self.ws_queue_2.put(msg, timeout=1.0) + except queue.Full: + print("[WARN] ws_send_queue full, drop frame message") + + self.raw_queue.task_done() + + +# ========================= 服务主类 ========================= +class RTSPService: + def __init__(self, config_path: str = "config.yaml"): + with open(config_path, "r", encoding="utf-8") as f: + cfg = yaml.safe_load(f) + self.cameras = [CameraConfig(id=c["id"], name=c.get("name", f"cam_{c['id']}"), index = c["index"], rtsp_url=c["rtsp_url"]) + for c in cfg.get("cameras", [])] + + self.stop_event = threading.Event() + self.raw_queue = queue.Queue(maxsize=500) + self.ws_queue = queue.Queue(maxsize=1000) + self.ws_queue_2 = queue.Queue(maxsize=1000) # 新增：第二个WebSocket队列 + + self.capture_workers = [] + self.processor = FrameProcessorWorker(self.raw_queue, self.ws_queue, self.ws_queue_2, self.stop_event) + self.ws_sender = WebSocketSender(self.ws_queue, self.stop_event) + self.ws_sender_2 = WebSocketSender2(self.ws_queue_2, self.stop_event) # 新增：第二个WebSocket发送器 + + def start(self): + self.ws_sender.start() + self.ws_sender_2.start() # 新增：启动第二个WebSocket服务 + self.processor.start() + for cam in self.cameras: + w = RTSPCaptureWorker(cam, self.raw_queue, self.stop_event) + w.start() + self.capture_workers.append(w) + print("[INFO] Zhihuishi RTSP Service started") + + def stop(self): + self.stop_event.set() + self.raw_queue.join() + self.ws_queue.join() + self.ws_queue_2.join() # 新增：等待第二个WebSocket队列 + for w in self.capture_workers: + w.join(timeout=2.0) + self.processor.join(timeout=2.0) + self.ws_sender.join(timeout=2.0) + self.ws_sender_2.join(timeout=2.0) # 新增：等待第二个WebSocket发送器 + print("[INFO] Service stopped") + + +if __name__ == "__main__": + service = RTSPService("config.yaml") + service.start() + try: + while True: + time.sleep(1) + except KeyboardInterrupt: + service.stop() diff --git a/rtsp_service_ws_kanshousuo.py b/rtsp_service_ws_kanshousuo.py new file mode 100644 index 0000000..c08597e --- /dev/null +++ b/rtsp_service_ws_kanshousuo.py @@ -0,0 +1,538 @@ +# rtsp_service_kadian.py +# 融合 Kadian_Detect_1221.py + rtsp_service_ws.py +# 支持多路RTSP、抽帧、分段保存MP4、WebSocket推送图像与告警 + +import cv2 +import numpy as np +import os +import time +import threading +import queue +import yaml +import json +import base64 +import asyncio +import websockets +from dataclasses import dataclass +from typing import Dict, Any, Tuple, List +from datetime import datetime + +# -------------------------- Kadian 检测相关导入 -------------------------- +from npu_yolo_onnx_person_car_phone import YOLOv8_ONNX # 主检测模型（人/车/后备箱/手机） + +from yolox.tracker.byte_tracker import BYTETracker + + +# ========================= 配置区 ========================= +# Kadian 模型路径与ROI（可根据实际情况修改） +detector_model_path = 'YOLO_Weight/bag_model.onnx' + + + +# 输入尺寸 +input_size = 640 + +# RTSP 服务配置 +RTSP_TARGET_FPS = 5.0 +WS_HOST = "0.0.0.0" +WS_PORT = 8767 +WS_PORT_2 = 8766 # 新增：第二个WebSocket端口 + +ALERT_PUSH_INTERVAL=5.0 + +# WebSocket 客户端集合 +ws_clients = set() +ws_clients_2 = set() # 新增：第二个WebSocket客户端集合 + + +# ========================= 数据结构 ========================= +@dataclass +class CameraConfig: + id: int + name: str + rtsp_url: str + + +# ========================= Kadian TrafficMonitor（精简版，专为服务设计） ========================= +class KadianDetector: + def __init__(self): + # 模型加载 + + self.detector = YOLOv8_ONNX(detector_model_path, conf_threshold=0.5, iou_threshold=0.45, + input_size=input_size) + + # ByteTracker + class TrackerArgs: + track_thresh = 0.25 + track_buffer = 30 + match_thresh = 0.8 + mot20 = False + + + + self.track_role = {} + + self.fps = RTSP_TARGET_FPS + + self.tracker = BYTETracker(TrackerArgs(), frame_rate=self.fps) + + # ========================================== + # 超参数设置 + # ========================================== + self.TIME_THRESHOLD_BLACKBAG = 1.0 # 黑包判定时长（秒） + self.TIME_TOLERANCE_BLACKBAG = 0.5 # 黑包丢失缓冲时间 + + # 转换为帧数阈值 + self.frame_thresh_blackbag = int(self.TIME_THRESHOLD_BLACKBAG * self.fps) + self.frame_buffer_blackbag = int(self.TIME_TOLERANCE_BLACKBAG * self.fps) + + print(f"\n超参数设置:") + print(f" FPS: {self.fps:.2f}") + print(f" 判定 'BlackBag Detected' 需累计检测: {self.frame_thresh_blackbag} 帧") + print(f" 黑包丢失缓冲帧数: {self.frame_buffer_blackbag} 帧") + + # ========================================== + # 状态变量初始化 + # ========================================== + self.current_frame_idx = 0 + + # 黑包检测状态 + self.blackbag_detection_frames = 0 + self.blackbag_missing_frames = 0 + self.blackbag_alert_active = False + + # 人员统计变量 + self.current_person_count = 0 + + + def compute_iou(self,boxA, boxB): + # box = [x1, y1, x2, y2] + xA = max(boxA[0], boxB[0]) + yA = max(boxA[1], boxB[1]) + xB = min(boxA[2], boxB[2]) + yB = min(boxA[3], boxB[3]) + + interW = max(0, xB - xA) + interH = max(0, yB - yA) + interArea = interW * interH + + boxAArea = (boxA[2] - boxA[0]) * (boxA[3] - boxA[1]) + boxBArea = (boxB[2] - boxB[0]) * (boxB[3] - boxB[1]) + + unionArea = boxAArea + boxBArea - interArea + if unionArea == 0: + return 0.0 + + return interArea / unionArea + + def draw_alert(self, frame, text, color=(0, 0, 255), sub_text=None, offset_y=0): + """在右上角绘制警告文字 (支持垂直偏移，防止文字重叠)""" + font_scale = 1.5 + thickness = 3 + font = cv2.FONT_HERSHEY_SIMPLEX + + (text_w, text_h), _ = cv2.getTextSize(text, font, font_scale, thickness) + x = self.width - text_w - 20 + y = 50 + text_h + offset_y # 增加 Y 轴偏移 + + cv2.rectangle(frame, (x - 10, y - text_h - 10), (x + text_w + 10, y + 10), (0, 0, 0), -1) + cv2.putText(frame, text, (x, y), font, font_scale, color, thickness) + + if sub_text: + cv2.putText(frame, sub_text, (x, y + 40), font, 0.7, (200, 200, 200), 2) + + def process_frame(self, frame, camera_id: int, timestamp: float) -> Dict[str, Any]: + h, w = frame.shape[:2] + self.width, self.height = w, h + + self.current_frame_idx += 1 + + current_time_sec = timestamp + + # ========= 检测推理（黑包+人）========= + detect_results = self.detector(frame) + + # 初始化检测结果存储 + dets_xyxy = [] + dets_roles = [] + dets_for_tracker = [] + current_frame_alerts = [] + + # 解析检测结果（黑包cls_id=0，人员cls_id=1） + if detect_results: + for det in detect_results: + x1, y1, x2, y2, conf, cls_id = det + dets_xyxy.append([x1, y1, x2, y2]) + dets_for_tracker.append([x1, y1, x2, y2, conf]) + if cls_id == 0: + dets_roles.append("black_bag") + elif cls_id == 1: + dets_roles.append("person") + + # 跟踪器更新 + dets = np.array(dets_for_tracker, dtype=np.float32) if len(dets_for_tracker) else np.empty((0, 5)) + tracks = self.tracker.update( + dets, + [self.height, self.width], + [self.height, self.width] + ) + + # ========= 单帧统计初始化 ========= + self.current_person_count = 0 + current_blackbag_count = 0 + + # ========= 跟踪结果绘制与统计 ========= + for t in tracks: + tid = t.track_id + + # IoU匹配跟踪ID和类别 + REVALIDATE_FRAME_INTERVAL = 10 + + + #if tid not in self.track_role: + if (self.current_frame_idx % REVALIDATE_FRAME_INTERVAL == 0) or (tid not in self.track_role): + best_iou = 0 + best_role = "unknown" + t_box = list(map(float, t.tlbr)) + for i, box in enumerate(dets_xyxy): + iou_val = self.compute_iou(t_box, box) + if iou_val > best_iou: + best_iou = iou_val + best_role = dets_roles[i] + self.track_role[tid] = best_role if best_iou > 0.1 else "unknown" + + role = self.track_role.get(tid, "unknown") + x1, y1, x2, y2 = map(int, t.tlbr) + color = (255, 255, 255) + label = "Unknown" + + # 人员检测（cls_id=1） + if role == "person": + self.current_person_count += 1 + color = (255, 0, 255) # 紫色框 + label = "Person" + # 黑包检测（cls_id=0） + elif role == "black_bag": + current_blackbag_count += 1 + color = (0, 128, 0) # 绿色框 + label = "Black Bag" + + # 绘制检测框和标签 + cv2.rectangle(frame, (x1, y1), (x2, y2), color, 2) + cv2.putText(frame, label, (x1, y1 - 10), cv2.FONT_HERSHEY_SIMPLEX, 0.6, color, 2) + + # ========================================== + # 黑包状态更新 + # ========================================== + if current_blackbag_count > 0: + self.blackbag_detection_frames += 1 + self.blackbag_missing_frames = 0 + if self.blackbag_detection_frames >= self.frame_thresh_blackbag: + self.blackbag_alert_active = True + else: + self.blackbag_missing_frames += 1 + if self.blackbag_missing_frames >= self.frame_buffer_blackbag: + self.blackbag_detection_frames = 0 + self.blackbag_alert_active = False + + # ========================================== + # 警告信息收集 + # ========================================== + if self.blackbag_alert_active: + duration_seconds = self.blackbag_detection_frames / self.fps + current_frame_alerts.append( + { + 'time': current_time_sec, + 'action': 'Black Bag', + 'details': f"Detected for {duration_seconds:.1f}s" + } + ) + self.draw_alert(frame, "Black Bag Alert", (0, 0, 255), sub_text=f"Detected for {duration_seconds:.1f}s") + + # ========================================== + # 绘制信息 + # ========================================== + # 实时统计 + debug_info = f"Person: {self.current_person_count} | BlackBag: {current_blackbag_count}" + cv2.putText(frame, debug_info, (20, 40), cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 255, 0), 2) + + # 警告信息 + alert_y_start = 150 + for i, alert in enumerate(current_frame_alerts): + action = alert['action'] + details = alert.get('details', '') + color = (0, 0, 255) # 红色警告 + main_text = f"{action} ({details})" + y_pos = alert_y_start + i * 50 + cv2.rectangle(frame, (20, y_pos - 40), (900, y_pos + 10), (0, 0, 0), -1) + cv2.putText(frame, main_text, (30, y_pos), cv2.FONT_HERSHEY_SIMPLEX, 1.0, color, 2) + + return { + "image": frame, + + "alerts":current_frame_alerts + } + +# ========================= WebSocket 服务线程 ========================= +class WebSocketSender(threading.Thread): + def __init__(self, send_queue: queue.Queue, stop_event: threading.Event): + super().__init__(daemon=True) + self.send_queue = send_queue + self.stop_event = stop_event + + async def _ws_handler(self, websocket): + ws_clients.add(websocket) + try: + async for _ in websocket: + pass + finally: + ws_clients.discard(websocket) + + async def _broadcaster(self): + while not self.stop_event.is_set(): + try: + msg = await asyncio.to_thread(self.send_queue.get, timeout=0.5) + except queue.Empty: + continue + data = json.dumps(msg) + dead = [] + for ws in list(ws_clients): + try: + await ws.send(data) + except: + dead.append(ws) + for ws in dead: + ws_clients.discard(ws) + self.send_queue.task_done() + + async def _run_async(self): + async with websockets.serve(self._ws_handler, WS_HOST, WS_PORT): + print(f"[INFO] WebSocket server started at ws://{WS_HOST}:{WS_PORT}") + await self._broadcaster() + + def run(self): + asyncio.run(self._run_async()) + + +# ========================= WebSocket 服务线程2 ========================= +class WebSocketSender2(threading.Thread): + def __init__(self, send_queue: queue.Queue, stop_event: threading.Event): + super().__init__(daemon=True) + self.send_queue = send_queue + self.stop_event = stop_event + + async def _ws_handler(self, websocket): + ws_clients_2.add(websocket) + try: + async for _ in websocket: + pass + finally: + ws_clients_2.discard(websocket) + + async def _broadcaster(self): + while not self.stop_event.is_set(): + try: + msg = await asyncio.to_thread(self.send_queue.get, timeout=0.5) + except queue.Empty: + continue + data = json.dumps(msg) + dead = [] + for ws in list(ws_clients_2): + try: + await ws.send(data) + except: + dead.append(ws) + for ws in dead: + ws_clients_2.discard(ws) + self.send_queue.task_done() + + async def _run_async(self): + async with websockets.serve(self._ws_handler, WS_HOST, WS_PORT_2): + print(f"[INFO] WebSocket server 2 started at ws://{WS_HOST}:{WS_PORT_2}") + await self._broadcaster() + + def run(self): + asyncio.run(self._run_async()) + + +# ========================= RTSP 抓流线程 ========================= +class RTSPCaptureWorker(threading.Thread): + def __init__(self, camera_cfg: CameraConfig, raw_queue: queue.Queue, stop_event: threading.Event): + super().__init__(daemon=True) + self.camera_cfg = camera_cfg + self.raw_queue = raw_queue + self.stop_event = stop_event + + def run(self): + cap = cv2.VideoCapture(self.camera_cfg.rtsp_url, cv2.CAP_FFMPEG) + if not cap.isOpened(): + print(f"[ERROR] Cannot open RTSP: {self.camera_cfg.rtsp_url}") + return + print(f"[INFO] Capturing {self.camera_cfg.name} (ID:{self.camera_cfg.id})") + while not self.stop_event.is_set(): + ret, frame = cap.read() + if not ret: + time.sleep(0.2) + continue + item = { + "camera_id": self.camera_cfg.id, + "camera_name": self.camera_cfg.name, + "timestamp": time.time(), + "frame": frame, + } + try: + self.raw_queue.put(item, timeout=1.0) + except queue.Full: + pass + cap.release() + + +# ========================= 帧处理线程 ========================= +class FrameProcessorWorker(threading.Thread): + def __init__(self, + raw_frame_queue: "queue.Queue[Dict[str, Any]]", + ws_send_queue: "queue.Queue[Dict[str, Any]]", + ws_send_queue_2: "queue.Queue[Dict[str, Any]]", + stop_event: threading.Event): + super().__init__(daemon=True) + self.raw_queue = raw_frame_queue + self.ws_queue = ws_send_queue + self.ws_queue_2 = ws_send_queue_2 # 新增：第二个WebSocket队列 + self.stop_event = stop_event + + self.last_ts: Dict[int, float] = {} + + # 每个摄像头一个独立的 Kadian 检测器实例 + self.kadian_detectors: Dict[int, KadianDetector] = {} + self.last_alert_push_time: Dict[int,Dict[str,float]]={} + + + + def _encode_image_to_base64(self, image) -> str: + ok, buf = cv2.imencode(".jpg", image) + if not ok: + raise RuntimeError("Failed to encode image to JPEG") + return base64.b64encode(buf.tobytes()).decode("ascii") + + def run(self): + target_interval = 1.0 / RTSP_TARGET_FPS + while not self.stop_event.is_set(): + try: + item = self.raw_queue.get(timeout=0.5) + except queue.Empty: + continue + + cam_id = item["camera_id"] + ts = item["timestamp"] + frame = item["frame"] + + # 抽帧控制 + if ts - self.last_ts.get(cam_id, 0) < target_interval: + self.raw_queue.task_done() + continue + self.last_ts[cam_id] = ts + + # 获取检测器实例 + if cam_id not in self.kadian_detectors: + self.kadian_detectors[cam_id] = KadianDetector() + detector = self.kadian_detectors[cam_id] + + # 执行检测 + result = detector.process_frame(frame.copy(), cam_id, ts) + + result_img = result["image"] + result_type = result["alerts"] + + if cam_id not in self.last_alert_push_time: + self.last_alert_push_time[cam_id]={} + + push_actions=[] + current_time=time.time() + for alert in result_type: + action=alert['action'] + last_push=self.last_alert_push_time[cam_id].get(action,0) + + if current_time-last_push>=ALERT_PUSH_INTERVAL: + push_actions.append(action) + self.last_alert_push_time[cam_id][action] = current_time + + + # 通过 WebSocket 发送帧结果 + try: + img_b64 = self._encode_image_to_base64(result_img) + except Exception as e: + print(f"[ERROR] Encode image failed: {e}") + img_b64 = None + + if img_b64 is not None: + # 将abnormal_actions对象数组转换为字符串数组 + #action_names = [action_info['action'] for action_info in push_actions] + + msg = { + "msg_type": "frame", + "camera_id": 1, + "timestamp": ts, + #"result_type": action_names, + "result_type": push_actions, + "image_base64": img_b64, + } + try: + self.ws_queue.put(msg, timeout=1.0) + #if action_names and len(action_names) > 0: + if push_actions and len(push_actions) > 0: + self.ws_queue_2.put(msg, timeout=1.0) + except queue.Full: + print("[WARN] ws_send_queue full, drop frame message") + + self.raw_queue.task_done() + + +# ========================= 服务主类 ========================= +class RTSPService: + def __init__(self, config_path: str = "config.yaml"): + with open(config_path, "r", encoding="utf-8") as f: + cfg = yaml.safe_load(f) + self.cameras = [CameraConfig(id=c["id"], name=c.get("name", f"cam_{c['id']}"), rtsp_url=c["rtsp_url"]) + for c in cfg.get("cameras", [])] + + self.stop_event = threading.Event() + self.raw_queue = queue.Queue(maxsize=500) + self.ws_queue = queue.Queue(maxsize=1000) + self.ws_queue_2 = queue.Queue(maxsize=1000) # 新增：第二个WebSocket队列 + + self.capture_workers = [] + self.processor = FrameProcessorWorker(self.raw_queue, self.ws_queue, self.ws_queue_2, self.stop_event) + self.ws_sender = WebSocketSender(self.ws_queue, self.stop_event) + self.ws_sender_2 = WebSocketSender2(self.ws_queue_2, self.stop_event) # 新增：第二个WebSocket发送器 + + def start(self): + self.ws_sender.start() + self.ws_sender_2.start() # 新增：启动第二个WebSocket服务 + self.processor.start() + for cam in self.cameras: + w = RTSPCaptureWorker(cam, self.raw_queue, self.stop_event) + w.start() + self.capture_workers.append(w) + print("[INFO] Kadian RTSP Service started") + + def stop(self): + self.stop_event.set() + self.raw_queue.join() + self.ws_queue.join() + self.ws_queue_2.join() # 新增：等待第二个WebSocket队列 + for w in self.capture_workers: + w.join(timeout=2.0) + self.processor.join(timeout=2.0) + self.ws_sender.join(timeout=2.0) + self.ws_sender_2.join(timeout=2.0) # 新增：等待第二个WebSocket发送器 + print("[INFO] Service stopped") + + +if __name__ == "__main__": + service = RTSPService("config.yaml") + service.start() + try: + while True: + time.sleep(1) + except KeyboardInterrupt: + service.stop()