初 Raspberry Pi です。 4B 2GB
カメラサーバーを試したメモ
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/* Video streaming, recording, write image if detect motion ビデオストリーミング、録画、動きを検出した場合の画像の書き込み ``` $ uname -a ; lsb_release -a Linux raspberrypi 5.10.17-v7l+ #1414 SMP Fri Apr 30 13:20:47 BST 2021 armv7l GNU/Linux No LSB modules are available. Distributor ID: Raspbian Description: Raspbian GNU/Linux 10 (buster) Release: 10 Codename: buster ``` - https://qiita.com/phamvanhung2e123/items/96489f32932fcd21345e $ go get github.com/pkg/profile $ sudo apt install -y --no-install-recommends graphviz graphviz-dev ``` func main() { defer profile.Start(profile.ProfilePath(".")).Stop() defer profile.Start(profile.MemProfile, profile.ProfilePath(".")).Stop() ``` $ go tool pprof -http=":8081" main cpu.pprof $ go tool pprof -http=":8081" main mem.pprof --- - https://github.com/OsamaJBR/golang-camera-web-server - https://takuya-1st.hatenablog.jp/entry/20120302/1330675856 - https://gobot.io/documentation/examples/tello_opencv/ http://localhost:3000/ */ package main import ( "fmt" "html/template" "image" "image/color" "io" "io/fs" "log" "net/http" "os" "path" "path/filepath" "runtime" "strconv" "sync" "time" // _ "net/http/pprof" "gocv.io/x/gocv" "gopkg.in/natefinch/lumberjack.v2" ) var ( webcam *gocv.VideoCapture frame []byte mutex = &sync.Mutex{} ) /* 2160p: 3840x2160 4K 1440p: 2560x1440 1080p: 1920x1080 フルハイビジョン画質 = フルHD (o) 720p: 1280x720 ハイビジョン画質 = HD 480p: 854x480 (o) 480p: 720x480 DVDと同等な画面解像度 (x) 360p: 640x360 240p: 426x240 144p: 256x144 */ // 1080p @ 30 fps, 720p @ 60 fps, 640x480p 60/90 const ( // webcamWidth = 960 // ... // webcamHeight = 540 // ... // webcamWidth = 720 // cannot // webcamHeight = 480 // cannot // webcamWidth = 1080 // A // webcamHeight = 720 // A webcamWidth = 854 // B webcamHeight = 480 // B // webcamFPS = float64(30) // Hard // webcamFPS = float64(30 / 2) // Smooth webcamFPS = float64(30 / 4) // // minimumArea = 3000 // motion minimumArea = 30000 // motion // codec = "X264" // 重い // videoExt = ".avi" codec = "mp4v" videoExt = ".mp4" videoLength = time.Duration(10 * time.Second) logPath = "log" tmpPath = "tmp" videoPath = "videos" imagePath = "images" ) func main() { // defer profile.Start(profile.ProfilePath(".")).Stop() // defer profile.Start(profile.MemProfile, profile.ProfilePath(".")).Stop() /* go func() { log.Println(http.ListenAndServe("localhost:6060", nil)) }() */ // // runtime.GC() // debug.FreeOSMemory() // logfile exePath, err := os.Executable() if err != nil { log.Fatal(err) } basename := filepath.Base(exePath) // logPath := filepath.Join(filepath.Dir(exePath), "log", basename[:len(basename)-len(filepath.Ext(basename))]) + ".log" // 拡張子を変更 logPath := filepath.Join("log", basename[:len(basename)-len(filepath.Ext(basename))]) + ".log" // 拡張子を変更 log.Println("logfile", logPath) l := lumberjack.Logger{ Filename: logPath, MaxSize: 64, // 64, // MB MaxBackups: 3, // 3, MaxAge: 28, // days Compress: true, } if runtime.GOOS == "windows" { // Windows 向け build で コンソールを表示しない場合 // GOOS=windows GOARCH=amd64 go build -ldflags="-H windowsgui" // io.MultiWriter(os.Stdout, &l) を利用すると log ファイルに出力されない log.SetOutput(&l) } else { log.SetOutput(io.MultiWriter(os.Stdout, &l)) } // log.SetFlags(log.Ldate | log.Ltime) log.SetFlags(log.LstdFlags | log.Lmicroseconds) // make directories perm32, _ := strconv.ParseUint("0700", 8, 32) if _, err := os.Stat(logPath); err != nil { os.Mkdir(logPath, fs.FileMode(perm32)) } if _, err := os.Stat(tmpPath); err != nil { os.Mkdir(tmpPath, fs.FileMode(perm32)) } if _, err := os.Stat(videoPath); err != nil { os.Mkdir(videoPath, fs.FileMode(perm32)) } if _, err := os.Stat(imagePath); err != nil { os.Mkdir(imagePath, fs.FileMode(perm32)) } // host := "0.0.0.0:3000" // open webcam if len(os.Args) < 2 { log.Println(">> device /dev/video0 (default)") webcam, err = gocv.VideoCaptureDevice(0) } else { log.Println(">> file/url :: " + os.Args[1]) webcam, err = gocv.VideoCaptureFile(os.Args[1]) } if err != nil { log.Println("Error opening capture device", err) return } webcam.Set(gocv.VideoCaptureFrameWidth, webcamWidth) webcam.Set(gocv.VideoCaptureFrameHeight, webcamHeight) webcam.Set(gocv.VideoCaptureFPS, webcamFPS) defer webcam.Close() // start capturing go getFrames() log.Println("Capturing. Open http://" + host) // start http server http.HandleFunc("/video", func(w http.ResponseWriter, r *http.Request) { w.Header().Set("Content-Type", "multipart/x-mixed-replace; boundary=frame") for { mutex.Lock() data := "--frame\r\n Content-Type: image/jpeg\r\n\r\n" + string(frame) + "\r\n\r\n" mutex.Unlock() time.Sleep(30 * time.Millisecond) w.Write([]byte(data)) } }) http.HandleFunc("/", func(w http.ResponseWriter, r *http.Request) { t, err := template.ParseFiles("index.html") if err != nil { log.Panic(err) } t.Execute(w, "index") }) log.Fatal(http.ListenAndServe(host, nil)) } func getFrames() { img := gocv.NewMat() defer img.Close() imgResized := gocv.NewMat() defer imgResized.Close() frameWidth := int(webcam.Get(gocv.VideoCaptureFrameWidth)) frameHeight := int(webcam.Get(gocv.VideoCaptureFrameHeight)) fps := webcam.Get(gocv.VideoCaptureFPS) log.Printf("Set to the camera........width %d, height %d, fps %f\n", webcamWidth, webcamHeight, webcamFPS) log.Printf("Returned by the camera...width %d, height %d, fps %f\n", frameWidth, frameHeight, fps) tmpPaths := []string{path.Join(tmpPath, "out0"+videoExt), path.Join(tmpPath, "out1"+videoExt)} var err error var videoWriter2 [2]*gocv.VideoWriter // videoWriter2[0], err = gocv.VideoWriterFile(tmpPaths[0], codec, fps, frameWidth, frameHeight, true) videoWriter2[0], err = gocv.VideoWriterFile(tmpPaths[0], codec, webcamFPS, webcamWidth, webcamHeight, true) if err != nil { log.Panic("Can not open video writer 0", err) return } defer videoWriter2[0].Close() // videoWriter2[1], err = gocv.VideoWriterFile(tmpPaths[1], codec, fps, frameWidth, frameHeight, true) videoWriter2[1], err = gocv.VideoWriterFile(tmpPaths[1], codec, webcamFPS, webcamWidth, webcamHeight, true) if err != nil { log.Panic("Can not open video writer 1", err) return } defer videoWriter2[1].Close() var videoWriter = videoWriter2[0] // motion // https://github.com/hybridgroup/gocv/blob/release/cmd/motion-detect/main.go imgDelta := gocv.NewMat() defer imgDelta.Close() imgThresh := gocv.NewMat() defer imgThresh.Close() mog2 := gocv.NewBackgroundSubtractorMOG2() defer mog2.Close() doingMotion := true go func() { time.Sleep(10 * time.Second) // 起動直後は無視する doingMotion = false fmt.Println("Motion detect start") }() imagePathSFmt := fmt.Sprintf("%s/%%s.jpg", imagePath) // Double VideoWriter videoPathSFmt := fmt.Sprintf("%s/%%s%s", videoPath, videoExt) const dateFormat = "2006-01-02_15-04-05" go func() { out := fmt.Sprintf(videoPathSFmt, time.Now().Format(dateFormat)) a := 0 for { b := a if a == 0 { a = 1 } else { a = 0 } time.Sleep(videoLength) // video length mutex.Lock() videoWriter = videoWriter2[a] // swap mutex.Unlock() if err := videoWriter2[b].Close(); err != nil { log.Println("gocv.VideoWriter.Close()", err) } if err := os.Rename(tmpPaths[b], out); err != nil { log.Println("Rename", err) } out = fmt.Sprintf(videoPathSFmt, time.Now().Format(dateFormat)) videoWriter2[b] = nil // runtime.GC() // videoWriter2[b], err = gocv.VideoWriterFile(tmpPaths[b], codec, fps, frameWidth, frameHeight, true) videoWriter2[b], err = gocv.VideoWriterFile(tmpPaths[b], codec, webcamFPS, webcamWidth, webcamHeight, true) if err != nil { log.Println("Can not open video writer", b, err) } } }() isWebcamReading := false for { timeNow := time.Now() timeStamp := timeNow.Format("2006-01-02 15:04:05") if !isWebcamReading { mutex.Lock() // *A } isWebcamReading = true if ok := webcam.Read(&img); !ok { log.Println("Device closed") continue } if img.Empty() { continue } isWebcamReading = false gocv.Resize(img, &imgResized, image.Point{}, float64(0.5), float64(0.5), 0) gocv.PutText(&img, timeStamp, image.Pt(10, img.Rows()-10), gocv.FontHersheyPlain, 1, color.RGBA{255, 0, 0, 0}, 1) if err := videoWriter.Write(img); err != nil { log.Println("Can not write frame to temporary file", err) } // gocv.Resize(img, &imgResized, image.Point{}, float64(0.5), float64(0.5), 0) mutex.Unlock() // *A // motion if !doingMotion { // log.Println("-- doMotion") doingMotion = true go func() { // log.Println("-- go motion") defer func() { time.Sleep(30 * time.Millisecond) // good // time.Sleep(60 * time.Millisecond) // time.Sleep(100 * time.Millisecond) // time.Sleep(300 * time.Millisecond) doingMotion = false }() // mutex.Lock() imgClone := imgResized.Clone() // mutex.Unlock() defer imgClone.Close() // first phase of cleaning up image, obtain foreground only mog2.Apply(imgClone, &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() gocv.Dilate(imgThresh, &imgThresh, kernel) // now find contours contours := gocv.FindContours(imgThresh, gocv.RetrievalExternal, gocv.ChainApproxSimple) defer contours.Close() detected := false for i := 0; i < contours.Size(); i++ { area := gocv.ContourArea(contours.At(i)) if area < minimumArea { continue } log.Println("Motion detected", "area", area) rect := gocv.BoundingRect(contours.At(i)) // fmt.Printf("%d %d %d %d", rect.Max.X, rect.Max.Y, imgClone.Cols(), imgClone.Rows()) // エリア全体か？ if rect.Min.X == 0 && rect.Min.Y == 0 && rect.Max.X == imgClone.Cols() && rect.Max.Y == imgClone.Rows() { continue } log.Println("Motion detected") detected = true // draw detected area gocv.Rectangle(&imgClone, rect, color.RGBA{0, 0, 255, 0}, 2) gocv.DrawContours(&imgClone, contours, i, color.RGBA{255, 0, 0, 0}, 2) } if detected { // log.Println("-- put image") timeNow := time.Now() gocv.PutText(&imgClone, timeNow.Format("2006-01-02 15:04:05"), image.Pt(10, img.Rows()-10), gocv.FontHersheyPlain, 1, color.RGBA{255, 0, 0, 0}, 1) gocv.IMWrite(fmt.Sprintf(imagePathSFmt, timeNow.Format("2006-01-02_15-04-05.000")), imgClone) } }() } gocv.PutText(&imgResized, timeStamp, image.Pt(10, imgResized.Rows()-10), gocv.FontHersheyPlain, 1, color.RGBA{255, 0, 0, 0}, 1) mutex.Lock() frame = nil // runtime.GC() frame, _ = gocv.IMEncode(".jpg", imgResized) // err: nil しか帰ってこない 2021-06-04 mutex.Unlock() } } |
