537 lines
19 KiB
Python
537 lines
19 KiB
Python
# rtsp_service_kadian.py
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# 融合 Kadian_Detect_1221.py + rtsp_service_ws.py
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# 支持多路RTSP、抽帧、分段保存MP4、WebSocket推送图像与告警
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import cv2
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import numpy as np
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import time
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import threading
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import queue
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import yaml
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import json
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import base64
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import asyncio
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import websockets
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from dataclasses import dataclass
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from typing import Dict, Any
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# -------------------------- Kadian 检测相关导入 --------------------------
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from algorithm.checkpoint.npu_yolo_onnx_person_car_phone import YOLOv8_ONNX # 主检测模型（人/车/后备箱/手机）
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from yolox.tracker.byte_tracker import BYTETracker
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# ========================= 配置区 =========================
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# Kadian 模型路径与ROI（可根据实际情况修改）
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detector_model_path = 'YOLO_Weight/bag_model.onnx'
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# 输入尺寸
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input_size = 640
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# RTSP 服务配置
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RTSP_TARGET_FPS = 5.0
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WS_HOST = "0.0.0.0"
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WS_PORT = 8767
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WS_PORT_2 = 8766 # 新增：第二个WebSocket端口
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ALERT_PUSH_INTERVAL=5.0
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# WebSocket 客户端集合
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ws_clients = set()
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ws_clients_2 = set() # 新增：第二个WebSocket客户端集合
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# ========================= 数据结构 =========================
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@dataclass
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class CameraConfig:
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id: int
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name: str
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rtsp_url: str
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# ========================= Kadian TrafficMonitor（精简版，专为服务设计） =========================
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class KadianDetector:
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def __init__(self):
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# 模型加载
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self.detector = YOLOv8_ONNX(detector_model_path, conf_threshold=0.5, iou_threshold=0.45,
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input_size=input_size)
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# ByteTracker
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class TrackerArgs:
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track_thresh = 0.25
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track_buffer = 30
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match_thresh = 0.8
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mot20 = False
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self.track_role = {}
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self.fps = RTSP_TARGET_FPS
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self.tracker = BYTETracker(TrackerArgs(), frame_rate=self.fps)
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# ==========================================
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# 超参数设置
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# ==========================================
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self.TIME_THRESHOLD_BLACKBAG = 1.0 # 黑包判定时长（秒）
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self.TIME_TOLERANCE_BLACKBAG = 0.5 # 黑包丢失缓冲时间
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# 转换为帧数阈值
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self.frame_thresh_blackbag = int(self.TIME_THRESHOLD_BLACKBAG * self.fps)
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self.frame_buffer_blackbag = int(self.TIME_TOLERANCE_BLACKBAG * self.fps)
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print(f"\n超参数设置:")
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print(f" FPS: {self.fps:.2f}")
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print(f" 判定 'BlackBag Detected' 需累计检测: {self.frame_thresh_blackbag} 帧")
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print(f" 黑包丢失缓冲帧数: {self.frame_buffer_blackbag} 帧")
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# ==========================================
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# 状态变量初始化
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# ==========================================
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self.current_frame_idx = 0
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# 黑包检测状态
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self.blackbag_detection_frames = 0
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self.blackbag_missing_frames = 0
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self.blackbag_alert_active = False
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# 人员统计变量
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self.current_person_count = 0
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def compute_iou(self,boxA, boxB):
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# box = [x1, y1, x2, y2]
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xA = max(boxA[0], boxB[0])
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yA = max(boxA[1], boxB[1])
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xB = min(boxA[2], boxB[2])
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yB = min(boxA[3], boxB[3])
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interW = max(0, xB - xA)
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interH = max(0, yB - yA)
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interArea = interW * interH
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boxAArea = (boxA[2] - boxA[0]) * (boxA[3] - boxA[1])
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boxBArea = (boxB[2] - boxB[0]) * (boxB[3] - boxB[1])
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unionArea = boxAArea + boxBArea - interArea
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if unionArea == 0:
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return 0.0
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return interArea / unionArea
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def draw_alert(self, frame, text, color=(0, 0, 255), sub_text=None, offset_y=0):
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"""在右上角绘制警告文字 (支持垂直偏移，防止文字重叠)"""
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font_scale = 1.5
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thickness = 3
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font = cv2.FONT_HERSHEY_SIMPLEX
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(text_w, text_h), _ = cv2.getTextSize(text, font, font_scale, thickness)
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x = self.width - text_w - 20
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y = 50 + text_h + offset_y # 增加 Y 轴偏移
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cv2.rectangle(frame, (x - 10, y - text_h - 10), (x + text_w + 10, y + 10), (0, 0, 0), -1)
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cv2.putText(frame, text, (x, y), font, font_scale, color, thickness)
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if sub_text:
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cv2.putText(frame, sub_text, (x, y + 40), font, 0.7, (200, 200, 200), 2)
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def process_frame(self, frame, camera_id: int, timestamp: float) -> Dict[str, Any]:
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h, w = frame.shape[:2]
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self.width, self.height = w, h
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self.current_frame_idx += 1
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current_time_sec = timestamp
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# ========= 检测推理（黑包+人）=========
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detect_results = self.detector(frame)
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# 初始化检测结果存储
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dets_xyxy = []
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dets_roles = []
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dets_for_tracker = []
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current_frame_alerts = []
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# 解析检测结果（黑包cls_id=0，人员cls_id=1）
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if detect_results:
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for det in detect_results:
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x1, y1, x2, y2, conf, cls_id = det
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dets_xyxy.append([x1, y1, x2, y2])
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dets_for_tracker.append([x1, y1, x2, y2, conf])
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if cls_id == 0:
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dets_roles.append("black_bag")
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elif cls_id == 1:
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dets_roles.append("person")
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# 跟踪器更新
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dets = np.array(dets_for_tracker, dtype=np.float32) if len(dets_for_tracker) else np.empty((0, 5))
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tracks = self.tracker.update(
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dets,
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[self.height, self.width],
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[self.height, self.width]
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)
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# ========= 单帧统计初始化 =========
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self.current_person_count = 0
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current_blackbag_count = 0
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# ========= 跟踪结果绘制与统计 =========
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for t in tracks:
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tid = t.track_id
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# IoU匹配跟踪ID和类别
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REVALIDATE_FRAME_INTERVAL = 10
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#if tid not in self.track_role:
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if (self.current_frame_idx % REVALIDATE_FRAME_INTERVAL == 0) or (tid not in self.track_role):
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best_iou = 0
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best_role = "unknown"
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t_box = list(map(float, t.tlbr))
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for i, box in enumerate(dets_xyxy):
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iou_val = self.compute_iou(t_box, box)
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if iou_val > best_iou:
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best_iou = iou_val
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best_role = dets_roles[i]
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self.track_role[tid] = best_role if best_iou > 0.1 else "unknown"
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role = self.track_role.get(tid, "unknown")
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x1, y1, x2, y2 = map(int, t.tlbr)
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color = (255, 255, 255)
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label = "Unknown"
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# 人员检测（cls_id=1）
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if role == "person":
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self.current_person_count += 1
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color = (255, 0, 255) # 紫色框
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label = "Person"
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# 黑包检测（cls_id=0）
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elif role == "black_bag":
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current_blackbag_count += 1
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color = (0, 128, 0) # 绿色框
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label = "Black Bag"
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# 绘制检测框和标签
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cv2.rectangle(frame, (x1, y1), (x2, y2), color, 2)
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cv2.putText(frame, label, (x1, y1 - 10), cv2.FONT_HERSHEY_SIMPLEX, 0.6, color, 2)
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# ==========================================
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# 黑包状态更新
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# ==========================================
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if current_blackbag_count > 0:
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self.blackbag_detection_frames += 1
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self.blackbag_missing_frames = 0
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if self.blackbag_detection_frames >= self.frame_thresh_blackbag:
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self.blackbag_alert_active = True
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else:
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self.blackbag_missing_frames += 1
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if self.blackbag_missing_frames >= self.frame_buffer_blackbag:
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self.blackbag_detection_frames = 0
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self.blackbag_alert_active = False
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# ==========================================
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# 警告信息收集
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# ==========================================
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if self.blackbag_alert_active:
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duration_seconds = self.blackbag_detection_frames / self.fps
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current_frame_alerts.append(
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{
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'time': current_time_sec,
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'action': 'Black Bag',
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'details': f"Detected for {duration_seconds:.1f}s"
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}
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)
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self.draw_alert(frame, "Black Bag Alert", (0, 0, 255), sub_text=f"Detected for {duration_seconds:.1f}s")
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# ==========================================
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# 绘制信息
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# ==========================================
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# 实时统计
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debug_info = f"Person: {self.current_person_count} | BlackBag: {current_blackbag_count}"
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cv2.putText(frame, debug_info, (20, 40), cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 255, 0), 2)
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# 警告信息
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alert_y_start = 150
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for i, alert in enumerate(current_frame_alerts):
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action = alert['action']
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details = alert.get('details', '')
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color = (0, 0, 255) # 红色警告
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main_text = f"{action} ({details})"
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y_pos = alert_y_start + i * 50
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cv2.rectangle(frame, (20, y_pos - 40), (900, y_pos + 10), (0, 0, 0), -1)
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cv2.putText(frame, main_text, (30, y_pos), cv2.FONT_HERSHEY_SIMPLEX, 1.0, color, 2)
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return {
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"image": frame,
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"alerts":current_frame_alerts
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}
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# ========================= WebSocket 服务线程 =========================
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class WebSocketSender(threading.Thread):
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def __init__(self, send_queue: queue.Queue, stop_event: threading.Event):
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super().__init__(daemon=True)
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self.send_queue = send_queue
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self.stop_event = stop_event
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async def _ws_handler(self, websocket):
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ws_clients.add(websocket)
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try:
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async for _ in websocket:
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pass
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finally:
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ws_clients.discard(websocket)
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async def _broadcaster(self):
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while not self.stop_event.is_set():
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try:
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msg = await asyncio.to_thread(self.send_queue.get, timeout=0.5)
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except queue.Empty:
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continue
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data = json.dumps(msg)
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dead = []
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for ws in list(ws_clients):
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try:
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await ws.send(data)
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except:
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dead.append(ws)
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for ws in dead:
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ws_clients.discard(ws)
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self.send_queue.task_done()
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async def _run_async(self):
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async with websockets.serve(self._ws_handler, WS_HOST, WS_PORT):
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print(f"[INFO] WebSocket server started at ws://{WS_HOST}:{WS_PORT}")
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await self._broadcaster()
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def run(self):
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asyncio.run(self._run_async())
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# ========================= WebSocket 服务线程2 =========================
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class WebSocketSender2(threading.Thread):
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def __init__(self, send_queue: queue.Queue, stop_event: threading.Event):
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super().__init__(daemon=True)
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self.send_queue = send_queue
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self.stop_event = stop_event
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async def _ws_handler(self, websocket):
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ws_clients_2.add(websocket)
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try:
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async for _ in websocket:
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pass
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finally:
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ws_clients_2.discard(websocket)
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async def _broadcaster(self):
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while not self.stop_event.is_set():
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try:
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msg = await asyncio.to_thread(self.send_queue.get, timeout=0.5)
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except queue.Empty:
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continue
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data = json.dumps(msg)
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dead = []
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for ws in list(ws_clients_2):
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try:
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await ws.send(data)
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except:
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dead.append(ws)
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for ws in dead:
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ws_clients_2.discard(ws)
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self.send_queue.task_done()
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async def _run_async(self):
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async with websockets.serve(self._ws_handler, WS_HOST, WS_PORT_2):
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print(f"[INFO] WebSocket server 2 started at ws://{WS_HOST}:{WS_PORT_2}")
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await self._broadcaster()
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def run(self):
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asyncio.run(self._run_async())
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# ========================= RTSP 抓流线程 =========================
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class RTSPCaptureWorker(threading.Thread):
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def __init__(self, camera_cfg: CameraConfig, raw_queue: queue.Queue, stop_event: threading.Event):
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super().__init__(daemon=True)
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self.camera_cfg = camera_cfg
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self.raw_queue = raw_queue
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self.stop_event = stop_event
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def run(self):
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cap = cv2.VideoCapture(self.camera_cfg.rtsp_url, cv2.CAP_FFMPEG)
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if not cap.isOpened():
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print(f"[ERROR] Cannot open RTSP: {self.camera_cfg.rtsp_url}")
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return
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print(f"[INFO] Capturing {self.camera_cfg.name} (ID:{self.camera_cfg.id})")
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while not self.stop_event.is_set():
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ret, frame = cap.read()
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if not ret:
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time.sleep(0.2)
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continue
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item = {
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"camera_id": self.camera_cfg.id,
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"camera_name": self.camera_cfg.name,
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"timestamp": time.time(),
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"frame": frame,
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}
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try:
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self.raw_queue.put(item, timeout=1.0)
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except queue.Full:
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pass
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cap.release()
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# ========================= 帧处理线程 =========================
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class FrameProcessorWorker(threading.Thread):
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def __init__(self,
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raw_frame_queue: "queue.Queue[Dict[str, Any]]",
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ws_send_queue: "queue.Queue[Dict[str, Any]]",
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ws_send_queue_2: "queue.Queue[Dict[str, Any]]",
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stop_event: threading.Event):
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super().__init__(daemon=True)
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self.raw_queue = raw_frame_queue
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self.ws_queue = ws_send_queue
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self.ws_queue_2 = ws_send_queue_2 # 新增：第二个WebSocket队列
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self.stop_event = stop_event
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self.last_ts: Dict[int, float] = {}
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# 每个摄像头一个独立的 Kadian 检测器实例
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self.kadian_detectors: Dict[int, KadianDetector] = {}
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self.last_alert_push_time: Dict[int,Dict[str,float]]={}
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def _encode_image_to_base64(self, image) -> str:
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ok, buf = cv2.imencode(".jpg", image)
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if not ok:
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raise RuntimeError("Failed to encode image to JPEG")
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return base64.b64encode(buf.tobytes()).decode("ascii")
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def run(self):
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target_interval = 1.0 / RTSP_TARGET_FPS
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while not self.stop_event.is_set():
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try:
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item = self.raw_queue.get(timeout=0.5)
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except queue.Empty:
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continue
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cam_id = item["camera_id"]
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ts = item["timestamp"]
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frame = item["frame"]
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# 抽帧控制
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if ts - self.last_ts.get(cam_id, 0) < target_interval:
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self.raw_queue.task_done()
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continue
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self.last_ts[cam_id] = ts
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# 获取检测器实例
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if cam_id not in self.kadian_detectors:
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self.kadian_detectors[cam_id] = KadianDetector()
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detector = self.kadian_detectors[cam_id]
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# 执行检测
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result = detector.process_frame(frame.copy(), cam_id, ts)
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result_img = result["image"]
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result_type = result["alerts"]
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if cam_id not in self.last_alert_push_time:
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self.last_alert_push_time[cam_id]={}
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push_actions=[]
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current_time=time.time()
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for alert in result_type:
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action=alert['action']
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last_push=self.last_alert_push_time[cam_id].get(action,0)
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if current_time-last_push>=ALERT_PUSH_INTERVAL:
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push_actions.append(action)
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self.last_alert_push_time[cam_id][action] = current_time
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# 通过 WebSocket 发送帧结果
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try:
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img_b64 = self._encode_image_to_base64(result_img)
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except Exception as e:
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print(f"[ERROR] Encode image failed: {e}")
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img_b64 = None
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if img_b64 is not None:
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# 将abnormal_actions对象数组转换为字符串数组
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#action_names = [action_info['action'] for action_info in push_actions]
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msg = {
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"msg_type": "frame",
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"camera_id": 1,
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"timestamp": ts,
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#"result_type": action_names,
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"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()
|