Motion detection with a circular buffer and file recording in picamera

motion_215.py

#!/usr/bin/env python

import io
import time
import picamera
import picamera.array
import numpy as np
from PIL import Image, ImageDraw


FILE_PATTERN = 'motion%02d.h264' # the file pattern in which to record videos
FILE_BUFFER = 1048576            # the size of the file buffer (bytes)

REC_RESOLUTION = (1280, 720) # the recording resolution
REC_FRAMERATE = 24           # the recording framerate
REC_SECONDS = 10             # number of seconds to store in ring buffer
REC_BITRATE = 1000000        # bitrate for H.264 encoder

MOTION_MAGNITUDE = 60        # the magnitude of vectors required for motion
MOTION_VECTORS = 10          # the number of vectors required to detect motion


class MotionDetector(picamera.array.PiMotionAnalysis):
    def __init__(self, camera, size=None):
        super(MotionDetector, self).__init__(camera, size)
        self.vector_count = 0
        self.detected = 0

    def analyse(self, a):
        a = np.sqrt(
            np.square(a['x'].astype(np.float)) +
            np.square(a['y'].astype(np.float))
            ).clip(0, 255).astype(np.uint8)
        # If there're more than 10 vectors with a magnitude greater than 60,
        # then set the last detected timestamp to now. Note: this is a really
        # crude method - I'm sure someone can do better with a bit of effort!
        # Things to try: filtering on SAD numbers, checking consecutive frames
        # for consistent motion in the same vectors, checking adjacent macro
        # blocks for similar motion vectors (to determine shape/size of moving
        # object). Then there's exposure, AWB, night/day cycles and such like
        # to compensate for
        vector_count = (a > MOTION_MAGNITUDE).sum()
        if vector_count > MOTION_VECTORS:
            self.detected = time.time()
            # We only store the count of vectors here as a demo of how to
            # easily extract some stats from the motion detector for debugging
            self.vector_count = vector_count


def create_recording_overlay(camera):
    # Make a recording symbol (red circle) overlay. This isn't perfect as
    # overlays don't support alpha transparency (so there'll be black corners
    # around the red circle) but oh well, it's only a demo!
    img = Image.new('RGB', (64, 64))
    d = ImageDraw.Draw(img)
    d.ellipse([(0, 0), (63, 63)], fill='red')
    o = camera.add_overlay(img.tostring(), size=img.size)
    o.alpha = 128
    o.layer = 1
    o.fullscreen = False
    o.window = (32, 32, 96, 96)
    return o


def main():
    with picamera.PiCamera() as camera:
        camera.resolution = REC_RESOLUTION
        camera.framerate = REC_FRAMERATE
        # Let the camera settle for a bit. This avoids detecting motion when
        # it's just the white balance and exposure settling.
        time.sleep(2)

        # Set up all the stuff we need: an overlay to indicate when we're
        # recording, the ring-buffer we want to record to when we haven't
        # detected motion, the file-object we want to record video to when
        # we *have* detected motion, and finally the motion detector itself
        camera.start_preview()
        recording_overlay = create_recording_overlay(camera)
        ring_buffer = picamera.PiCameraCircularIO(
            camera, seconds=REC_SECONDS, bitrate=REC_BITRATE)
        file_number = 1
        file_output = io.open(
            FILE_PATTERN % file_number, 'wb', buffering=FILE_BUFFER)
        motion_detector = MotionDetector(camera)

        # Start recording data to the ring buffer and the motion detector
        # at the specified bitrates
        camera.start_recording(
            ring_buffer, format='h264', bitrate=REC_BITRATE,
            intra_period=REC_FRAMERATE, motion_output=motion_detector)
        try:
            while True:
                # Motion not detected state:
                # In this state we just wait around for the motion detector to
                # notice something. We check whether the last motion detected
                # timestamp occurred in the last second
                print('Waiting for motion')
                while motion_detector.detected < time.time() - 1:
                    camera.wait_recording(1)

                # Transition to motion detected state:
                # Show the recording indicator, copy the content of the ring
                # buffer to the output file, then split the recording to the
                # output file. Note: because this is a file *we* opened
                # (instead of picamera opening it for us when we specify a
                # filename), we get to control when it closes, and picamera
                # doesn't move the file-pointer except when writing to it
                print('Motion detected (%d vectors)' % motion_detector.vector_count)
                print('Recording to %s' % file_output.name)
                recording_overlay.layer = 3
                with ring_buffer.lock:
                    for frame in ring_buffer.frames:
                        if frame.frame_type == picamera.PiVideoFrameType.sps_header:
                            ring_buffer.seek(frame.position)
                            break
                    while True:
                        buf = ring_buffer.read1()
                        if not buf:
                            break
                        file_output.write(buf)
                camera.split_recording(file_output)
                # Clear the ring buffer (the easiest way to do this is simply
                # to reconstruct it). Note to self: add a clear() method to
                # the next version...
                ring_buffer = picamera.PiCameraCircularIO(
                    camera, seconds=REC_SECONDS, bitrate=REC_BITRATE)

                # Motion detected state:
                # Wait for REC_SECONDS without motion
                while motion_detector.detected > time.time() - REC_SECONDS:
                    camera.wait_recording(1)

                # Transition back to motion not detected state:
                # Split the recording back to the ring buffer, hide the
                # recording indicator, and open the next output file
                recording_overlay.layer = 1
                camera.split_recording(ring_buffer)
                file_number += 1
                file_output.close()
                file_output = io.open(
                    FILE_PATTERN % file_number, 'wb', buffering=FILE_BUFFER)
        finally:
            camera.stop_recording()

if __name__ == '__main__':
    main()

your script seems to work fine but i managed to get it to crash in one instance.
i have other recording problems (massive frames drop) so this is probably not related to your script but since it did crash i'll post the log :

Motion detected (418 vectors)
Recording to /home/pi/picamera/recordings/motion20@40.h264
Traceback (most recent call last):
File "/home/pi/picamera/motion_215.py", line 194, in
main()
File "/home/pi/picamera/motion_215.py", line 154, in main
camera.split_recording(file_output)
File "/usr/lib/python2.7/dist-packages/picamera/camera.py", line 1301, in split_recording
encoder.split(output, options.get('motion_output'))
File "/usr/lib/python2.7/dist-packages/picamera/encoders.py", line 1266, in split
'Timed out waiting for a split point')
picamera.exc.PiCameraRuntimeError: Timed out waiting for a split point

i modified you script a bit, not where it crashed, so the line numbers are different, line 154 corresponds to line 120 in your script :
camera.split_recording(file_output)

i have not modified the buffer value, but perform motion detection only every 10 frames.
This runs on an A+ raspbian 20150505 vanilla (python imaging installed only).
I ran the exact same script on another pi b+ (different class10 sd card) for 2 hours without crash but still with large amounts of dropped frames.

i'm recording at 1296x972@40fps (quality=20 stabilization=true), which seems to cause a lot of problems here, 40fps it's supposed to be supported but well i can't get a proper encoding at the moment.

anyways buffer+recording in a single file is brilliant, thx.

okay it seems my dropped frames are related to the split_recording event and/or buffer.lock context.

My encoding still doesn't look extremely smooth, i'll go down to 25fps and use a fixed bitrate, i'll also reduce the intra_period value to increase the keyframes frequency and minimize the split_recording frames gap.

Strangely i have actually two gaps very close to each other, a rather large one and a second shorter one right after.

I was wondering what the "ring_buffer.lock" in your script would introduce gap wise, compared to a instantaneous split_recording and "cat before-after" post processing ?
I assume that when you lock the circular buffer to write it to file_output, the encoder has to wait (or trash whatever gets encoded) until writing is done to resume encoding (after split_recording is called).

Can you think of a different way of doing this, in order to reduce frame loss as much as possible ?

My idea would be to skip split_recording altogether, maybe continuously record to a ram file, and overwrite it every few seconds (with split_recording) if no motion has been detected, otherwise keep writing to it, until motion stops or its size reaches a max size, we would then split to a new ram file and move the first one from ram to disk
.
That way no split_recording or lock/"slow sd i/o" would be performed near the the motion event which at the moment introduces gaps in the stream.

Another better way would be to use your circular buffer and somehow stop it from being circular when motion is detected, so we would keep recording to it until we decide to actually write to file.

@eldonT , can't help you here, but thought you might want to convert these comments into an issue against the picamera repo, it sounds important and worth tracking (and not necessarily just depending on the script). I will test this myself some time this week I hope.

@eldonT, the timeout on split_recording is an issue I've been grappling with for a while now. The test suite periodically craps out with exactly the same error but it's not something I've ever managed to reproduce reliably (which makes it extremely difficult to figure out exactly where the error is). My hunch is there's something weird in the firmware but it could be I'm doing something wrong during a split.

On the subject of dropped frames - that'll very much depend on how much IO your SD card (or whatever your output is) can handle. When the split occurs, there's a big burst of IO as it dumps the circular buffer out to the disk. If that dump takes longer than a frame's worth of time (in your case 1/40s, so it very likely does take longer), there'll be dropped frames.

A more advanced approach would be to create the output file at the required size of the circular buffer, duplicate the file-pointer and let the video recording can continue recording at the required position, reset the duplicated file-pointer to the beginning and use a background thread to write out the circular buffer. But once you get into background threads you're into all sorts of locking fun (e.g. what happens if the main thread wants to split back before the background thread has finished writing out the existing circular buffer), so I figured that was overkill for a simple demo. That said, it's certainly possible to do this without dropping frames - it's all a matter of finessing the IO so it doesn't do anything big at any one time.

Generally speaking this is pretty much the mantra for video handling on the Pi: the first limit you're going to run into is IO (the next is CPU, but you'll run into IO first ;). Thankfully, IO can be smoothed out with a bit of skill (or just dumped to a faster medium like Ethernet!).

thx for your comments
okay so the timeout is not on me. i got the split_rec timeout 2 times out of three runs, using your vanilla script on an rpi A+ (raspbian, no overclocking, 1296x972@40 quality 20-24), i'm using a Sandisk Ultra hc1.

As i was trying to reduce the dropped frames as much as possible i played a bit with the intra_period value.
I reduced it to every 5 frames (i'm aways at 25fps at the moment), but then also modified your start_recording command from intra_period=REC_FRAMERATE to my intra_period value.

Since then i haven't encountered the timeout error, ran it 4 times, 2-4 hours 50-100 files each run.
So either you could try to reproduce it on an A+ with this script, and/or try very long intra_period.

Yes i/o limitations were quite obvious on the rpi, i am now doing all the recording to ramfs files, it pretty much reduced the second (dump) gap, mentioned above, to nothing.
A reduced intra_period also cut the main split_recording gap to a fraction of what it was before, but of course it has an impact on the stream encoding which is not ideal..

I'll try to implement my dumb "circular" files (no circular buffer) in ramfs.
i'm afraid i don't quite know enough about file pointers to understand and try your suggestion myself, but it's good to know that there's always improvement.

Another thought for a future Circular buffer revision :

while reading about buffer scripts, i also came across (can't find the link back right now), a post from a raspivid dev whom implemented some circular buffer parameters that included a pre/post motion context, so that the motion event would not immediately trigger a dump but wait for x seconds after the event. That way you don't get a gap right after to the motion event.
As he was using a fixed buffer length in seconds, he added a percentage value to specify pre/post values :
for example "10-0.8" would set a 10sec buffer with 8 seconds before a motion event, and 2 sec after the event.

Quick thought on the dropped frames issue. So the problem is that when going from RAM to file system, the buffer is locked and frames are lost. Why not create two circ buffers and record/write to disk alternatively? 10 seconds of video is about 20 megs and my SD card can do 13.5 mb/s. This would allow enough time to write before the other ring buffer fills up.

camera.start_recording(ring_buffer1)

while True:
wait_recording(1)
if motionDetected:
    camera.split_recording(ringbuffer2)
    with ring_buffer1.lock:
                    for frame in ring_buffer1.frames:
                        if frame.frame_type == picamera.PiVideoFrameType.sps_header:
                            ring_buffer1.seek(frame.position)
                            break
                    while True:
                        buf = ring_buffer1.read1()
                        if not buf:
                            break
                        file_output.write(buf)
    #clear out ringbuffer by reinit
    ring_buffer1 = picamera.PiCameraCircularIO()

    camera.split_recording(ringbuffer1)
    with ring_buffer2.lock:
                    for frame in ring_buffer2.frames:
                        if frame.frame_type == picamera.PiVideoFrameType.sps_header:
                            ring_buffer2.seek(frame.position)
                            break
                    while True:
                        buf = ring_buffer2.read1()
                        if not buf:
                            break
                        file_output.write(buf)
     ring_buffer2 = picamera.PiCameraCircularIO()

This is probably buggy, just wanted to get the idea out of my head.

Quick thought on the dropped frames issue. So the problem is that when going from RAM to file system, the buffer is locked and frames are lost. Why not create two circ buffers and record/write to disk alternatively? 10 seconds of video is about 20 megs and my SD card can do 13.5 mb/s. This would allow enough time to write before the other ring buffer fills up.

camera.start_recording(ring_buffer1)

while True:
wait_recording(1)
if motionDetected:
    camera.split_recording(ringbuffer2)
    with ring_buffer1.lock:
                    for frame in ring_buffer1.frames:
                        if frame.frame_type == picamera.PiVideoFrameType.sps_header:
                            ring_buffer1.seek(frame.position)
                            break
                    while True:
                        buf = ring_buffer1.read1()
                        if not buf:
                            break
                        file_output.write(buf)
    #clear out ringbuffer by reinit
    ring_buffer1 = picamera.PiCameraCircularIO()

    camera.split_recording(ringbuffer1)
    with ring_buffer2.lock:
                    for frame in ring_buffer2.frames:
                        if frame.frame_type == picamera.PiVideoFrameType.sps_header:
                            ring_buffer2.seek(frame.position)
                            break
                    while True:
                        buf = ring_buffer2.read1()
                        if not buf:
                            break
                        file_output.write(buf)
     ring_buffer2 = picamera.PiCameraCircularIO()

This is probably buggy, just wanted to get the idea out of my head.

Hey, did this work out?

I have an application where I have exactly the same problem. My initial idea was to have two ring buffers. But if you came up with a different solution I'd love to hear it!

The only problem with the dual ring buffer solution I can see is that it takes a few frames to split_recording between two buffers. Ideally, Id like a seamless stream.