Merged master into mjpeg-player-new

cmd/revid-cli/main.go

@@ -282,7 +282,7 @@ func run(cfg config.Config) {
 		return nil // Return error only if we want NetSender to generate an error
 	}
 
-	ns, err := netsender.New(log, nil, readPin, nil)
+	ns, err := netsender.New(log, nil, readPin, nil, config.TypeData)
 	if err != nil {
 		log.Log(logger.Fatal, pkg+"could not initialise netsender client: "+err.Error())
 	}

container/mts/encoder.go

@@ -155,9 +155,12 @@ type Encoder struct {
 
 	continuity map[uint16]byte
 
-	nalBasedPSI  bool
+	psiMethod    int
 	pktCount     int
 	psiSendCount int
+	psiTime      time.Duration
+	psiSetTime   time.Duration
+	startTime    time.Time
 	mediaPid     uint16
 	streamID     byte
 }
@@ -167,21 +170,24 @@ type Encoder struct {
 func NewEncoder(dst io.WriteCloser, rate float64, mediaType int, options ...func(*Encoder) error) (*Encoder, error) {
 	var mPID uint16
 	var sID byte
-	nbp := true
+	psiM := timeBased
 	switch mediaType {
 	case EncodeAudio:
 		mPID = AudioPid
 		sID = audioStreamID
-		nbp = false
+		psiM = pktBased
 	case EncodeH265:
 		mPID = VideoPid
 		sID = H265ID
+		psiM = nalBased
 	case EncodeH264:
 		mPID = VideoPid
 		sID = H264ID
+		psiM = nalBased
 	case EncodeMJPEG:
 		mPID = VideoPid
 		sID = MJPEGID
+		psiM = timeBased
 	}
 
 	pmt := BasePMT
@@ -202,7 +208,7 @@ func NewEncoder(dst io.WriteCloser, rate float64, mediaType int, options ...func
 		writePeriod: time.Duration(float64(time.Second) / rate),
 		ptsOffset:   ptsOffset,
 
-		nalBasedPSI: nbp,
+		psiMethod: psiM,
 
 		pktCount: 8,
 
@@ -225,22 +231,52 @@ func NewEncoder(dst io.WriteCloser, rate float64, mediaType int, options ...func
 	return e, nil
 }
 
+// These three constants are used to select between the three different
+// methods of when the PSI is sent.
+const (
+	pktBased = iota
+	timeBased
+	nalBased
+)
+
 // PacketBasedPSI is an option that can be passed to NewEncoder to select
 // packet based PSI writing, i.e. PSI are written to the destination every
 // sendCount packets.
 func PacketBasedPSI(sendCount int) func(*Encoder) error {
 	return func(e *Encoder) error {
-		e.nalBasedPSI = false
+		e.psiMethod = pktBased
 		e.psiSendCount = sendCount
 		e.pktCount = e.psiSendCount
 		return nil
 	}
 }
 
+// TimeBasedPSI is another option that can be passed to NewEncoder to select
+// time based PSI writing, i.e. PSI are written to the destination every dur (duration)
+// (defualt is 2 seconds).
+func TimeBasedPSI(dur time.Duration) func(*Encoder) error {
+	return func(e *Encoder) error {
+		e.psiMethod = timeBased
+		e.psiTime = 0
+		e.psiSetTime = dur
+		e.startTime = time.Now()
+		return nil
+	}
+}
+
 // Write implements io.Writer. Write takes raw video or audio data and encodes into MPEG-TS,
 // then sending it to the encoder's io.Writer destination.
 func (e *Encoder) Write(data []byte) (int, error) {
-	if e.nalBasedPSI {
+	switch e.psiMethod {
+	case pktBased:
+		if e.pktCount >= e.psiSendCount {
+			e.pktCount = 0
+			err := e.writePSI()
+			if err != nil {
+				return 0, err
+			}
+		}
+	case nalBased:
 		nalType, err := h264.NALType(data)
 		if err != nil {
 			return 0, fmt.Errorf("could not get type from NAL unit, failed with error: %w", err)
@@ -252,12 +288,18 @@ func (e *Encoder) Write(data []byte) (int, error) {
 				return 0, err
 			}
 		}
-	} else if e.pktCount >= e.psiSendCount {
-		e.pktCount = 0
-		err := e.writePSI()
-		if err != nil {
-			return 0, err
+	case timeBased:
+		if time.Now().Sub(e.startTime) >= e.psiTime {
+			e.psiTime = e.psiSetTime
+			e.startTime = time.Now()
+			err := e.writePSI()
+			if err != nil {
+				return 0, err
+			}
+
 		}
+	default:
+		panic("Undefined PSI method")
 	}
 
 	// Prepare PES data.
@@ -319,6 +361,7 @@ func (e *Encoder) writePSI() error {
 	}
 	e.pktCount++
 	pmtTable, err = updateMeta(pmtTable)
+
 	if err != nil {
 		return err
 	}

exp/gocv-exp/main.go

@@ -0,0 +1,117 @@
+// What it does:
+//
+// This example detects motion using a delta threshold from the first frame,
+// and then finds contours to determine where the object is located.
+//
+// Very loosely based on Adrian Rosebrock code located at:
+// http://www.pyimagesearch.com/2015/06/01/home-surveillance-and-motion-detection-with-the-raspberry-pi-python-and-opencv/
+
+package main
+
+import (
+	"fmt"
+	"image"
+	"image/color"
+	"os"
+	"strconv"
+	"time"
+
+	"gocv.io/x/gocv"
+)
+
+const MinimumArea = 1000
+
+func main() {
+	if len(os.Args) < 2 {
+		fmt.Println("How to run:\n\tmotion-detect [camera ID]")
+		return
+	}
+
+	// parse args
+	deviceID := os.Args[1]
+	minArea, _ := strconv.Atoi(os.Args[2])
+
+	webcam, err := gocv.OpenVideoCapture(deviceID)
+	if err != nil {
+		fmt.Printf("Error opening video capture device: %v\n", deviceID)
+		return
+	}
+	defer webcam.Close()
+
+	window1 := gocv.NewWindow("Motion Window")
+	defer window1.Close()
+
+	window2 := gocv.NewWindow("Threshold window")
+	defer window2.Close()
+
+	time.Sleep(2 * time.Second)
+
+	img := gocv.NewMat()
+	defer img.Close()
+
+	imgDelta := gocv.NewMat()
+	defer imgDelta.Close()
+
+	imgThresh := gocv.NewMat()
+	defer imgThresh.Close()
+
+	mog2 := gocv.NewBackgroundSubtractorMOG2()
+	defer mog2.Close()
+
+	status := "Ready"
+
+	fmt.Printf("Start reading device: %v\n", deviceID)
+	for {
+		if ok := webcam.Read(&img); !ok {
+			fmt.Printf("Device closed: %v\n", deviceID)
+			return
+		}
+		if img.Empty() {
+			continue
+		}
+
+		status = "READY"
+		statusColor := color.RGBA{0, 255, 0, 0}
+
+		// first phase of cleaning up image, obtain foreground only
+		mog2.Apply(img, &imgDelta)
+
+		// remaining cleanup of the image to use for finding contours.
+		// first use threshold
+		gocv.Threshold(imgDelta, &imgThresh, 25, 255, gocv.ThresholdBinary)
+
+		// then dilate
+		kernel := gocv.GetStructuringElement(gocv.MorphRect, image.Pt(3, 3))
+		defer kernel.Close()
+
+		// Erode
+		gocv.Erode(imgThresh, &imgThresh, kernel)
+		// Dilate
+		gocv.Dilate(imgThresh, &imgThresh, kernel)
+
+		// now find contours
+		contours := gocv.FindContours(imgThresh, gocv.RetrievalExternal, gocv.ChainApproxSimple)
+		for _, c := range contours {
+			area := gocv.ContourArea(c)
+			if area < float64(minArea) {
+				continue
+			}
+
+			status = "MOTION DETECTED"
+			statusColor = color.RGBA{255, 0, 0, 0}
+
+			//gocv.DrawContours(&img, contours, i, statusColor, 2)
+
+			rect := gocv.BoundingRect(c)
+			gocv.Rectangle(&img, rect, color.RGBA{0, 0, 255, 0}, 1)
+		}
+
+		gocv.PutText(&img, status, image.Pt(10, 20), gocv.FontHersheyPlain, 1.2, statusColor, 2)
+
+		window1.IMShow(img)
+		window2.IMShow(imgThresh)
+		if window1.WaitKey(1) == 27 {
+			break
+		}
+	}
+}

filter/mog.go

@@ -0,0 +1,127 @@
+/*
+DESCRIPTION
+  A filter that detects motion and discards frames without motion. The
+  filter uses a Mixture of Gaussians method (MoG) to determine what is
+  background and what is foreground.
+
+AUTHORS
+  Scott Barnard <scott@ausocean.org>
+
+LICENSE
+  mog.go is Copyright (C) 2019 the Australian Ocean Lab (AusOcean)
+
+  It is free software: you can redistribute it and/or modify them
+  under the terms of the GNU General Public License as published by the
+  Free Software Foundation, either version 3 of the License, or (at your
+  option) any later version.
+
+  It is distributed in the hope that it will be useful, but WITHOUT
+  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+  FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+  for more details.
+
+  You should have received a copy of the GNU General Public License
+  in gpl.txt.  If not, see http://www.gnu.org/licenses.
+*/
+
+package filter
+
+import (
+	"image"
+	"image/color"
+	"io"
+
+	"gocv.io/x/gocv"
+)
+
+// MOGFilter is a filter that provides basic motion detection. MoG is short for
+// Mixture of Gaussians method.
+type MOGFilter struct {
+	dst     io.WriteCloser
+	area    float64
+	bs      *gocv.BackgroundSubtractorMOG2
+	knl     gocv.Mat
+	debug   bool
+	windows []*gocv.Window
+}
+
+// NewMOGFilter returns a pointer to a new MOGFilter.
+func NewMOGFilter(dst io.WriteCloser, area, threshold float64, history, kernelSize int, debug bool) *MogFilter {
+	bs := gocv.NewBackgroundSubtractorMOG2WithParams(history, threshold, false)
+	k := gocv.GetStructuringElement(gocv.MorphRect, image.Pt(kernelSize, kernelSize))
+	var windows []*gocv.Window
+	if debug {
+		windows = []*gocv.Window{gocv.NewWindow("Debug: Bounding boxes"), gocv.NewWindow("Debug: Motion")}
+	}
+	return &MOGFilter{dst, area, &bs, k, debug, windows}
+}
+
+// Implements io.Closer.
+// Close frees resources used by gocv, because it has to be done manually, due to
+// it using c-go.
+func (m *MOGFilter) Close() error {
+	m.bs.Close()
+	m.knl.Close()
+	for _, window := range m.windows {
+		window.Close()
+	}
+	return m.dst.Close()
+}
+
+// Implements io.Writer.
+// Write applies the motion filter to the video stream. Only frames with motion
+// are written to the destination encoder, frames without are discarded.
+func (m *MOGFilter) Write(f []byte) (int, error) {
+	img, _ := gocv.IMDecode(f, gocv.IMReadColor)
+	defer img.Close()
+
+	imgDelta := gocv.NewMat()
+	defer imgDelta.Close()
+
+	// Seperate foreground and background.
+	m.bs.Apply(img, &imgDelta)
+
+	// Threshold imgDelta.
+	gocv.Threshold(imgDelta, &imgDelta, 25, 255, gocv.ThresholdBinary)
+
+	// Remove noise.
+	gocv.Erode(imgDelta, &imgDelta, m.knl)
+	gocv.Dilate(imgDelta, &imgDelta, m.knl)
+
+	// Fill small holes.
+	gocv.Dilate(imgDelta, &imgDelta, m.knl)
+	gocv.Erode(imgDelta, &imgDelta, m.knl)
+
+	// Find contours and reject ones with a small area.
+	var contours [][]image.Point
+	allContours := gocv.FindContours(imgDelta, gocv.RetrievalExternal, gocv.ChainApproxSimple)
+	for _, c := range allContours {
+		if gocv.ContourArea(c) > m.area {
+			contours = append(contours, c)
+		}
+	}
+
+	// Draw debug information.
+	if m.debug {
+		for _, c := range contours {
+			rect := gocv.BoundingRect(c)
+			gocv.Rectangle(&img, rect, color.RGBA{0, 0, 255, 0}, 1)
+		}
+
+		if len(contours) > 0 {
+			gocv.PutText(&img, "Motion", image.Pt(32, 32), gocv.FontHersheyPlain, 2.0, color.RGBA{255, 0, 0, 0}, 2)
+		}
+
+		m.windows[0].IMShow(img)
+		m.windows[1].IMShow(imgDelta)
+		m.windows[0].WaitKey(1)
+	}
+
+	// Don't write to destination if there is no motion.
+	if len(contours) == 0 {
+		return -1, nil
+	}
+
+	// Write to destination.
+	return m.dst.Write(f)
+}

go.mod

@@ -3,14 +3,14 @@ module bitbucket.org/ausocean/av
 go 1.13
 
 require (
-	bitbucket.org/ausocean/iot v1.2.8
+	bitbucket.org/ausocean/iot v1.2.9
 	bitbucket.org/ausocean/utils v1.2.11
 	github.com/Comcast/gots v0.0.0-20190305015453-8d56e473f0f7
 	github.com/go-audio/audio v0.0.0-20181013203223-7b2a6ca21480
 	github.com/go-audio/wav v0.0.0-20181013172942-de841e69b884
-	github.com/kr/pretty v0.1.0 // indirect
 	github.com/mewkiz/flac v1.0.5
 	github.com/pkg/errors v0.8.1
 	github.com/yobert/alsa v0.0.0-20180630182551-d38d89fa843e
+	gocv.io/x/gocv v0.21.0
 	gopkg.in/check.v1 v1.0.0-20180628173108-788fd7840127 // indirect
 )

go.sum

@@ -1,5 +1,7 @@
 bitbucket.org/ausocean/iot v1.2.8 h1:m2UhfAbG/6RKPBzY4OJ5S7zLxTmuzyMKPNbu0qaxFIw=
 bitbucket.org/ausocean/iot v1.2.8/go.mod h1:wCLOYeEDCxDquneSZ/zTEcKGXZ6uan+6sgZyTMlNVDo=
+bitbucket.org/ausocean/iot v1.2.9 h1:3tzgiekH+Z0yXhkwnqBzxxe8qQJ2O7YTkz4s0T6stgw=
+bitbucket.org/ausocean/iot v1.2.9/go.mod h1:Q5FwaOKnCty3dVeVtki6DLwYa5vhNpOaeu1lwLyPCg8=
 bitbucket.org/ausocean/utils v1.2.11 h1:zA0FOaPjN960ryp8PKCkV5y50uWBYrIxCVnXjwbvPqg=
 bitbucket.org/ausocean/utils v1.2.11/go.mod h1:uXzX9z3PLemyURTMWRhVI8uLhPX4uuvaaO85v2hcob8=
 github.com/BurntSushi/toml v0.3.1 h1:WXkYYl6Yr3qBf1K79EBnL4mak0OimBfB0XUf9Vl28OQ=
@@ -52,6 +54,8 @@ go.uber.org/multierr v1.1.0/go.mod h1:wR5kodmAFQ0UK8QlbwjlSNy0Z68gJhDJUG5sjR94q/
 go.uber.org/zap v1.9.1/go.mod h1:vwi/ZaCAaUcBkycHslxD9B2zi4UTXhF60s6SWpuDF0Q=
 go.uber.org/zap v1.10.0 h1:ORx85nbTijNz8ljznvCMR1ZBIPKFn3jQrag10X2AsuM=
 go.uber.org/zap v1.10.0/go.mod h1:vwi/ZaCAaUcBkycHslxD9B2zi4UTXhF60s6SWpuDF0Q=
+gocv.io/x/gocv v0.21.0 h1:dVjagrupZrfCRY0qPEaYWgoNMRpBel6GYDH4mvQOK8Y=
+gocv.io/x/gocv v0.21.0/go.mod h1:Rar2PS6DV+T4FL+PM535EImD/h13hGVaHhnCu1xarBs=
 golang.org/x/sys v0.0.0-20190913121621-c3b328c6e5a7/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
 gopkg.in/check.v1 v0.0.0-20161208181325-20d25e280405 h1:yhCVgyC4o1eVCa2tZl7eS0r+SDo693bJlVdllGtEeKM=
 gopkg.in/check.v1 v0.0.0-20161208181325-20d25e280405/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0=

revid/config/config.go

@@ -82,6 +82,7 @@ const (
 	defaultWriteRate       = 25
 	defaultClipDuration    = 0
 	defaultAudioInputCodec = codecutil.ADPCM
+	defaultPSITime         = 2
 
 	// MTS ring buffer defaults.
 	defaultMTSRBSize         = 100
@@ -238,14 +239,16 @@ type Config struct {
 	Channels   int     // Number of audio channels, 1 for mono, 2 for stereo.
 	BitDepth   int     // Sample bit depth.
 
-	RTPAddress     string // RTPAddress defines the RTP output destination.
-	BurstPeriod    uint   // BurstPeriod defines the revid burst period in seconds.
-	Rotation       uint   // Rotation defines the video rotation angle in degrees Raspivid input.
-	Height         uint   // Height defines the input video height Raspivid input.
-	Width          uint   // Width defines the input video width Raspivid input.
-	Bitrate        uint   // Bitrate specifies the bitrate for constant bitrate in kbps.
-	HorizontalFlip bool   // HorizontalFlip flips video horizontally for Raspivid input.
-	VerticalFlip   bool   // VerticalFlip flips video vertically for Raspivid input.
+	RTPAddress  string // RTPAddress defines the RTP output destination.
+	BurstPeriod uint   // BurstPeriod defines the revid burst period in seconds.
+	Rotation    uint   // Rotation defines the video rotation angle in degrees Raspivid input.
+	Height      uint   // Height defines the input video height Raspivid input.
+	Width       uint   // Width defines the input video width Raspivid input.
+	Bitrate     uint   // Bitrate specifies the bitrate for constant bitrate in kbps.
+
+	HorizontalFlip bool // HorizontalFlip flips video horizontally for Raspivid input.
+	VerticalFlip   bool // VerticalFlip flips video vertically for Raspivid input.
+	PSITime        int  // Sets the time between a packet being sent
 
 	// RTMP ring buffer parameters.
 	RTMPRBSize         int // The number of elements in the RTMP sender ringbuffer.
@@ -258,6 +261,45 @@ type Config struct {
 	MTSRBWriteTimeout int // The ringbuffer write timeout in seconds.
 }
 
+// TypeData contains information about all of the variables that
+// can be set over the web. It is a psuedo const.
+var TypeData = map[string]string{
+	"AutoWhiteBalance":   "enum:off,auto,sun,cloud,shade,tungsten,fluorescent,incandescent,flash,horizon",
+	"BitDepth":           "int",
+	"Brightness":         "uint",
+	"BurstPeriod":        "uint",
+	"CameraChan":         "int",
+	"CBR":                "bool",
+	"ClipDuration":       "uint",
+	"Exposure":           "enum:auto,night,nightpreview,backlight,spotlight,sports,snow,beach,verylong,fixedfps,antishake,fireworks",
+	"FrameRate":          "uint",
+	"Height":             "uint",
+	"HorizontalFlip":     "bool",
+	"HTTPAddress":        "string",
+	"Input":              "enum:raspivid,rtsp,v4l,file",
+	"InputCodec":         "enum:H264,MJPEG",
+	"InputPath":          "string",
+	"Logging":            "enum:Debug,Info,Warning,Error,Fatal",
+	"MinFrames":          "uint",
+	"MTSRBElementSize":   "int",
+	"MTSRBSize":          "int",
+	"MTSRBWriteTimeout":  "int",
+	"OutputPath":         "string",
+	"Outputs":            "string",
+	"Quantization":       "uint",
+	"Rotation":           "uint",
+	"RTMPRBElementSize":  "int",
+	"RTMPRBSize":         "int",
+	"RTMPRBWriteTimeout": "int",
+	"RTMPURL":            "string",
+	"RTPAddress":         "string",
+	"Saturation":         "int",
+	"VBRBitrate":         "int",
+	"VBRQuality":         "enum:standard,fair,good,great,excellent",
+	"VerticalFlip":       "bool",
+	"Width":              "uint",
+}
+
 // Validation errors.
 var (
 	errInvalidQuantization = errors.New("invalid quantization")
@@ -385,6 +427,11 @@ func (c *Config) Validate() error {
 		c.MTSRBWriteTimeout = defaultMTSRBWriteTimeout
 	}
 
+	if c.PSITime <= 0 {
+		c.Logger.Log(logger.Info, pkg+"PSITime bad or unset, defaulting", "PSITime", defaultPSITime)
+		c.PSITime = defaultPSITime
+	}
+
 	return nil
 }
 

revid/revid.go

@@ -186,7 +186,7 @@ func (r *Revid) reset(c config.Config) error {
 					st = mts.EncodeH264
 				case codecutil.MJPEG:
 					st = mts.EncodeMJPEG
-					encOptions = append(encOptions, mts.PacketBasedPSI(int(r.cfg.MinFrames)))
+					encOptions = append(encOptions, mts.TimeBasedPSI(time.Duration(r.cfg.PSITime)*time.Second))
 				default:
 					panic("unknown input codec for raspivid input")
 				}
@@ -196,7 +196,7 @@ func (r *Revid) reset(c config.Config) error {
 					st = mts.EncodeH264
 				case codecutil.MJPEG:
 					st = mts.EncodeMJPEG
-					encOptions = append(encOptions, mts.PacketBasedPSI(int(r.cfg.MinFrames)))
+					encOptions = append(encOptions, mts.TimeBasedPSI(time.Duration(r.cfg.PSITime)*time.Second))
 				default:
 					panic("unknown input codec for v4l or input file input")
 				}
@@ -208,7 +208,7 @@ func (r *Revid) reset(c config.Config) error {
 					st = mts.EncodeH264
 				case codecutil.MJPEG:
 					st = mts.EncodeMJPEG
-					encOptions = append(encOptions, mts.PacketBasedPSI(int(r.cfg.MinFrames)))
+					encOptions = append(encOptions, mts.TimeBasedPSI(time.Duration(r.cfg.PSITime)*time.Second))
 				default:
 					panic("unknown input codec for RTSP input")
 				}
@@ -611,6 +611,13 @@ func (r *Revid) Update(vars map[string]string) error {
 			default:
 				r.cfg.Logger.Log(logger.Warning, pkg+"invalid VerticalFlip param", "value", value)
 			}
+		case "PSITime":
+			v, err := strconv.Atoi(value)
+			if err != nil || v < 0 {
+				r.cfg.Logger.Log(logger.Warning, pkg+"invalid PSITime var", "value", value)
+				break
+			}
+			r.cfg.PSITime = v
 		case "BurstPeriod":
 			v, err := strconv.Atoi(value)
 			if err != nil {