dsutanto/bytetrack-counter-cpp
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Add recording to Shared Memory

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proitlab committed 2026-07-29 01:00:40 +07:00
1 parent bb7d08abff
commit a30643ddc7
24 files changed
+14583 -20
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.oc/session.json
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File diff suppressed because it is too large. Load diff
CMakeLists.txt
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@@ -72,6 +72,7 @@ set(SOURCES
src/rknn_yolo.cpp
src/config.cpp
src/drawing.cpp
src/video_writer.cpp
)
add_executable(bytetrack-counter ${SOURCES})
SPEC.md
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@@ -0,0 +1,77 @@
# SPEC — ByteTrack Counter C++
## §G — Goal
Real-time object detection + tracking + line-cross counting pipeline on RK3588 NPU.
Two-class (ayam|talenan). Ayam crossing → increment batch count.
Talenan crossing → close batch. Persist to SQLite + JSON.
## §C — Constraints
- RK3588 ARM64, RKNN NPU (librknnrt)
- Model `zenai_apc_cicalengka_20260609.rknn` — dynamic input shape
- C++17, OpenCV 4, Eigen3, SQLite3
- systemd service, root, `ProtectSystem=full`
- 2 classes: `ayam_class_id=0`, `talenan_class_id=1`
- Single counting line, crossing direction `rtl`|`ltr`|`both`
- Shift-based counting: day boundary at `DAILY_CUTOFF_TIME`
## §I — Interfaces
```
env: .env KEY=VALUE file — all config per config.env.example
env: LIVE_STREAM_FRAME_PATH → JPEG snapshot path (/dev/shm/bytetrack-counter/live_frame.jpg)
cmd: bytetrack-counter <config.env>
db: SQLite batches(id,counting_date,batch_number,camera_name,object_label,count,start_time,end_time)
db: SQLite daily_summaries(id,counting_date,camera_name,object_label,total_count,total_batches)
file: JSON state — batch_number,count,start_time,last_detection_time,counted_event_ids[]
file: CSV crossing log — batch,frame,timestamp,chicken_id
sig: SIGTERM|SIGINT → shutdown_requested → graceful exit
```
## §V — Invariants
```
V1: ∀ detection → score ≥ conf threshold before tracking
V2: rknn_set_input_shapes called before rknn_inputs_set (dynamic shape model !)
V3: ∀ track_id → counted ≤ once per batch (dedup via counted_event_ids)
V4: talenan crossing → close batch only after ignore_batch_label_timeout (30s) from batch start
V5: batch (count < min_object | duration < min_duration) → discard ⊥ persist
V6: batch inactivity ≥ batch_timeout (300s) → auto-close
V7: counting_date rolls at DAILY_CUTOFF_TIME → cutoff_watcher thread
V8: ayam & talenan → separate ByteTrack instances (match_thresh_0=0.8, match_thresh_1=0.6)
V9: live_stream_enabled → parent dir of LIVE_STREAM_FRAME_PATH created @ startup
V10: stale track (> TRACKED_PRUNE_SEC unseen) → prune from external tracking maps
V11: DIRECTORY for LIVE_STREAM_FRAME_PATH must exist — created by code and by tmpfiles.d on boot (/dev/shm is volatile)
```
## §T — Tasks
```
id|status|task|cites
T1|x|YOLO inference via RKNN NPU (letterbox, BGR2RGB, coordinate rescale)|V1,V2
T2|x|ByteTrack Kalman filter + two-stage IoU matching|V8
T3|x|Line-cross detection (rtl|ltr|both) with prev→current cx|V3
T4|x|Batch persistence: SQLite + JSON state file|V5,V6
T5|x|Batch dedup via counted_event_ids[]|V3
T6|x|Talenan-closes-batch logic with ignore-on-start timeout|V4
T7|x|Batch timeout thread (generational counter, detached)|V6
T8|x|Daily cutoff watcher thread|V7
T9|x|Optional motion detection skip-inference|C.motion
T10|x|Config from .env file (get_env with defaults)|I.env
T11|x|Drawing: HUD, hero count, line, boxes, popups, skeleton|-
T12|x|CsvLogger for crossing events|I.file
T13|x|Live JPEG snapshot to shared memory|V9
T14|x|systemd service with ProtectSystem + ReadWritePaths|I.cmd
T15|x|Graceful shutdown: SIGTERM → close batch → save state|I.sig
T16|x|Video per batch recording (config exists, impl ⊥ in C++) to shared memory for speed reason. To identify batch is between talenan (index=1), save with different name. Once completed, spawn new process (non blocking) to move recorded file to final destination (from config env). To identify first batch, record and wait X seconds (X default is 10 seconds, can be defined in config env), until first ayam (index=0) detected|-
T17|~?|Python DEBUG_TRACKING equivalent (per-frame score/track dump)|-
```
## §B — Bugs
```
id|date|cause|fix
```
(base empty — distilled from code, no bug history)
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/usr/include/opencv4/opencv2/stitching/detail/motion_estimators.hpp \
/usr/include/opencv4/opencv2/stitching/detail/seam_finders.hpp \
/usr/include/opencv4/opencv2/stitching/detail/util.hpp \
/usr/include/opencv4/opencv2/stitching/detail/util_inl.hpp \
/usr/include/opencv4/opencv2/stitching/detail/warpers.hpp \
/usr/include/opencv4/opencv2/stitching/detail/warpers_inl.hpp \
/usr/include/opencv4/opencv2/stitching/warpers.hpp \
/usr/include/opencv4/opencv2/video.hpp \
/usr/include/opencv4/opencv2/video/background_segm.hpp \
/usr/include/opencv4/opencv2/video/tracking.hpp \
/usr/include/opencv4/opencv2/videoio.hpp \
/usr/include/pthread.h \
/usr/include/sched.h \
/usr/include/signal.h \
/usr/include/stdc-predef.h \
/usr/include/stdint.h \
/usr/include/stdio.h \
/usr/include/stdlib.h \
/usr/include/string.h \
/usr/include/strings.h \
/usr/include/time.h \
/usr/include/unistd.h \
/usr/include/wchar.h \
/usr/include/wctype.h \
/usr/lib/gcc/aarch64-linux-gnu/13/include/arm_bf16.h \
/usr/lib/gcc/aarch64-linux-gnu/13/include/arm_fp16.h \
/usr/lib/gcc/aarch64-linux-gnu/13/include/arm_neon.h \
/usr/lib/gcc/aarch64-linux-gnu/13/include/float.h \
/usr/lib/gcc/aarch64-linux-gnu/13/include/limits.h \
/usr/lib/gcc/aarch64-linux-gnu/13/include/stdarg.h \
/usr/lib/gcc/aarch64-linux-gnu/13/include/stddef.h \
/usr/lib/gcc/aarch64-linux-gnu/13/include/stdint.h \
/usr/lib/gcc/aarch64-linux-gnu/13/include/syslimits.h
/usr/include/aarch64-linux-gnu/bits/types/idtype_t.h:
/opt/bytetrack-counter-cpp/src/video_writer.cpp:
/opt/bytetrack-counter-cpp/src/rknn_yolo.cpp:
@@ -3594,6 +4074,8 @@ CMakeFiles/bytetrack-counter.dir/src/rknn_yolo.cpp.o: /opt/bytetrack-counter-cpp
/usr/include/opencv4/opencv2/flann/hierarchical_clustering_index.h:
/usr/include/aarch64-linux-gnu/sys/wait.h:
/usr/include/opencv4/opencv2/flann/ground_truth.h:
/usr/include/opencv4/opencv2/flann/general.h:
@@ -4514,6 +4996,8 @@ CMakeFiles/bytetrack-counter.dir/src/rknn_yolo.cpp.o: /opt/bytetrack-counter-cpp
/usr/include/c++/13/pstl/glue_algorithm_defs.h:
/opt/bytetrack-counter-cpp/src/video_writer.hpp:
/usr/include/c++/13/bits/std_thread.h:
/usr/include/eigen3/Eigen/src/Core/Visitor.h:
build/CMakeFiles/bytetrack-counter.dir/link.txt
+1 -1
View File
@@ -1 +1 @@
/usr/bin/c++ "CMakeFiles/bytetrack-counter.dir/src/main.cpp.o" "CMakeFiles/bytetrack-counter.dir/src/kalman_filter.cpp.o" "CMakeFiles/bytetrack-counter.dir/src/bytetrack.cpp.o" "CMakeFiles/bytetrack-counter.dir/src/batch_store.cpp.o" "CMakeFiles/bytetrack-counter.dir/src/csv_logger.cpp.o" "CMakeFiles/bytetrack-counter.dir/src/rknn_yolo.cpp.o" "CMakeFiles/bytetrack-counter.dir/src/config.cpp.o" "CMakeFiles/bytetrack-counter.dir/src/drawing.cpp.o" -o bytetrack-counter /usr/lib/aarch64-linux-gnu/libopencv_highgui.so.4.6.0 /usr/lib/aarch64-linux-gnu/libsqlite3.so -lpthread /usr/lib/librknnrt.so /usr/lib/aarch64-linux-gnu/libopencv_videoio.so.4.6.0 /usr/lib/aarch64-linux-gnu/libopencv_imgcodecs.so.4.6.0 /usr/lib/aarch64-linux-gnu/libopencv_imgproc.so.4.6.0 /usr/lib/aarch64-linux-gnu/libopencv_core.so.4.6.0
/usr/bin/c++ "CMakeFiles/bytetrack-counter.dir/src/main.cpp.o" "CMakeFiles/bytetrack-counter.dir/src/kalman_filter.cpp.o" "CMakeFiles/bytetrack-counter.dir/src/bytetrack.cpp.o" "CMakeFiles/bytetrack-counter.dir/src/batch_store.cpp.o" "CMakeFiles/bytetrack-counter.dir/src/csv_logger.cpp.o" "CMakeFiles/bytetrack-counter.dir/src/rknn_yolo.cpp.o" "CMakeFiles/bytetrack-counter.dir/src/config.cpp.o" "CMakeFiles/bytetrack-counter.dir/src/drawing.cpp.o" "CMakeFiles/bytetrack-counter.dir/src/video_writer.cpp.o" -o bytetrack-counter /usr/lib/aarch64-linux-gnu/libopencv_highgui.so.4.6.0 /usr/lib/aarch64-linux-gnu/libsqlite3.so -lpthread /usr/lib/librknnrt.so /usr/lib/aarch64-linux-gnu/libopencv_videoio.so.4.6.0 /usr/lib/aarch64-linux-gnu/libopencv_imgcodecs.so.4.6.0 /usr/lib/aarch64-linux-gnu/libopencv_imgproc.so.4.6.0 /usr/lib/aarch64-linux-gnu/libopencv_core.so.4.6.0
build/CMakeFiles/bytetrack-counter.dir/progress.make
+1
View File
@@ -7,4 +7,5 @@ CMAKE_PROGRESS_6 = 6
CMAKE_PROGRESS_7 = 7
CMAKE_PROGRESS_8 = 8
CMAKE_PROGRESS_9 = 9
CMAKE_PROGRESS_10 = 10
build/CMakeFiles/progress.marks
+1 -1
View File
@@ -1 +1 @@
9
10
build/Makefile
+27
View File
@@ -366,6 +366,30 @@ src/rknn_yolo.cpp.s:
$(MAKE) $(MAKESILENT) -f CMakeFiles/bytetrack-counter.dir/build.make CMakeFiles/bytetrack-counter.dir/src/rknn_yolo.cpp.s
.PHONY : src/rknn_yolo.cpp.s
src/video_writer.o: src/video_writer.cpp.o
.PHONY : src/video_writer.o
# target to build an object file
src/video_writer.cpp.o:
$(MAKE) $(MAKESILENT) -f CMakeFiles/bytetrack-counter.dir/build.make CMakeFiles/bytetrack-counter.dir/src/video_writer.cpp.o
.PHONY : src/video_writer.cpp.o
src/video_writer.i: src/video_writer.cpp.i
.PHONY : src/video_writer.i
# target to preprocess a source file
src/video_writer.cpp.i:
$(MAKE) $(MAKESILENT) -f CMakeFiles/bytetrack-counter.dir/build.make CMakeFiles/bytetrack-counter.dir/src/video_writer.cpp.i
.PHONY : src/video_writer.cpp.i
src/video_writer.s: src/video_writer.cpp.s
.PHONY : src/video_writer.s
# target to generate assembly for a file
src/video_writer.cpp.s:
$(MAKE) $(MAKESILENT) -f CMakeFiles/bytetrack-counter.dir/build.make CMakeFiles/bytetrack-counter.dir/src/video_writer.cpp.s
.PHONY : src/video_writer.cpp.s
# Help Target
help:
@echo "The following are some of the valid targets for this Makefile:"
@@ -403,6 +427,9 @@ help:
@echo "... src/rknn_yolo.o"
@echo "... src/rknn_yolo.i"
@echo "... src/rknn_yolo.s"
@echo "... src/video_writer.o"
@echo "... src/video_writer.i"
@echo "... src/video_writer.s"
.PHONY : help
build/bytetrack-counter
BIN
View File
Binary file not shown.
build/version.hpp
+3 -3
View File
@@ -4,11 +4,11 @@
namespace version {
const std::string GIT_COMMIT = "1c783fd9";
const std::string GIT_COMMIT = "bb7d08ab";
const std::string GIT_BRANCH = "main";
const std::string GIT_TAG = "";
const std::string BUILD_DATE = "2026-07-07";
const std::string BUILD_TIME = "17:13:57";
const std::string BUILD_DATE = "2026-07-29";
const std::string BUILD_TIME = "00:00:24";
const int BUILD_YEAR = 2026;
const bool BUILD_RKNN = 1;
config.env.example
+6 -3
View File
@@ -131,12 +131,15 @@ FLUSH_EVERY_N_FRAMES=100
TRACKED_PRUNE_SEC=300
# --- Video recording ---
# Save annotated frames to segmented MP4 files (true/false)
# Per-batch video recording — raw frames (no overlay) to shared memory, moved to
# OUTPUT_DIR on batch close via non-blocking background process (true/false)
RECORD_VIDEO=false
# Duration in seconds of each video segment file
VIDEO_SEGMENT_SEC=3600
# Output video FPS (fallback if source FPS is unknown or ≤ 1)
OUTPUT_FPS=15
# Delay in seconds after batch starts before recording begins (every batch)
RECORD_DELAY_SECONDS=10
# Shared memory directory for recording (fast write, moved to OUTPUT_DIR on close)
RECORD_SHM_DIR=/dev/shm/bytetrack-counter
# --- Live stream snapshot ---
# Periodically write the latest annotated frame as JPEG for an external web server
on.json
View File
Whitespace-only changes.
src/batch_store.cpp
+8 -1
View File
@@ -327,16 +327,18 @@ bool BatchStore::end_batch_locked(const std::string& closed_by) {
auto duration_sec = std::chrono::duration_cast<std::chrono::seconds>(end_tp - start_tp).count();
int count = state["count"].get<int>();
int batch_number = state["batch_number"].get<int>();
if (count < min_object_per_batch_ || duration_sec < min_duration_per_batch_) {
current_state_ = nullptr;
save_state();
batch_timer_running_ = false;
if (batch_closed_cb_) batch_closed_cb_(batch_number);
return false;
}
try {
insert_batch(state["counting_date"], state["batch_number"],
insert_batch(state["counting_date"], batch_number,
count, state["start_time"], end_time);
} catch (const std::exception& e) {
logger_("Failed to persist batch: " + std::string(e.what()));
@@ -346,6 +348,7 @@ bool BatchStore::end_batch_locked(const std::string& closed_by) {
current_state_ = nullptr;
save_state();
batch_timer_running_ = false;
if (batch_closed_cb_) batch_closed_cb_(batch_number);
return true;
}
@@ -406,6 +409,10 @@ int BatchStore::display_total() {
return get_closed_total_for_day(get_counting_date()) + current_batch_count();
}
void BatchStore::set_batch_closed_callback(std::function<void(int)> cb) {
batch_closed_cb_ = std::move(cb);
}
bool BatchStore::check_cutoff_reset() {
return cutoff_triggered_.exchange(false);
}
src/batch_store.hpp
+3
View File
@@ -31,6 +31,8 @@ public:
int current_batch_count() const;
int display_total();
void set_batch_closed_callback(std::function<void(int)> cb);
bool check_cutoff_reset();
std::pair<int, bool> record_ayam_crossing(int track_id);
@@ -67,6 +69,7 @@ private:
int min_duration_per_batch_;
int carry_ids_ = 50;
std::function<void(const std::string&)> logger_;
std::function<void(int)> batch_closed_cb_;
sqlite3* db_ = nullptr;
std::mutex state_mutex_;
src/config.cpp
+3
View File
@@ -140,6 +140,9 @@ void AppConfig::load_from_env(const char* env_path) {
if (!vs_s.empty()) video_segment_sec = std::stoi(vs_s);
auto ofps_s = get_env("OUTPUT_FPS");
if (!ofps_s.empty()) output_fps = std::stoi(ofps_s);
auto rds_s = get_env("RECORD_DELAY_SECONDS");
if (!rds_s.empty()) record_delay_seconds = std::stof(rds_s);
record_shm_dir = get_env("RECORD_SHM_DIR", record_shm_dir);
auto lse_s = get_env("LIVE_STREAM_ENABLED");
live_stream_enabled = (lse_s == "true");
src/config.hpp
+2
View File
@@ -61,6 +61,8 @@ struct AppConfig {
bool record_video = false;
int video_segment_sec = 3600;
int output_fps = 15;
float record_delay_seconds = 10.0f;
std::string record_shm_dir = "/dev/shm/bytetrack-counter";
bool live_stream_enabled = false;
std::string live_stream_frame_path = "/dev/shm/bytetrack-counter/live_frame.jpg";
src/main.cpp
+18 -1
View File
@@ -6,6 +6,7 @@
#include "drawing.hpp"
#include "nms.hpp"
#include "version.hpp"
#include "video_writer.hpp"
#include <opencv2/opencv.hpp>
#include <Eigen/Dense>
@@ -219,6 +220,16 @@ int main(int argc, char* argv[]) {
<< fps_prop << "fps | line x=" << line_x
<< " | cross=" << g_config.cross_direction << std::endl;
std::unique_ptr<VideoBatchWriter> video_writer;
if (g_config.record_video) {
video_writer = std::make_unique<VideoBatchWriter>(
g_config.record_shm_dir, g_config.output_dir,
w, h, static_cast<int>(fps_prop),
g_config.record_delay_seconds);
auto* vw = video_writer.get();
store.set_batch_closed_callback([vw](int bn) { vw->on_batch_closed(bn); });
}
int reconnect_count = 0;
std::unordered_map<int, TrackedInfo> ayam_tracked;
@@ -429,7 +440,10 @@ int main(int argc, char* argv[]) {
});
}
ayam_crossed_frame = true;
if (started_new) batch_started_frame = true;
if (started_new) {
batch_started_frame = true;
if (video_writer) video_writer->on_new_batch(store.current_batch_number());
}
crossing_times.push_back(mono);
ayam_cross_flash[tid] = g_config.cross_flash_frames;
popups.push_back({
@@ -448,6 +462,8 @@ int main(int argc, char* argv[]) {
ayam_tracked[tid] = {cx, mono};
}
if (video_writer) video_writer->feed_frame(frame);
// Draw talenan
for (int di = 0; di < nt; ++di) {
auto it = talenan_tr.det_to_track.find(di);
@@ -540,6 +556,7 @@ int main(int argc, char* argv[]) {
}
cap.release();
if (video_writer) video_writer->shutdown();
store.shutdown();
std::cout << "\n=== Batch Summary (SQLite) ===" << std::endl;
src/video_writer.cpp
+147
View File
@@ -0,0 +1,147 @@
#include "video_writer.hpp"
#include <iostream>
#include <fstream>
#include <sstream>
#include <iomanip>
#include <ctime>
#include <filesystem>
#include <sys/wait.h>
#include <unistd.h>
VideoBatchWriter::VideoBatchWriter(const std::string& shm_dir,
const std::string& output_dir,
int w, int h, int fps,
float delay_sec)
: shm_dir_(shm_dir), output_dir_(output_dir),
w_(w), h_(h), fps_(fps), delay_sec_(delay_sec)
{
ensure_dir(shm_dir_);
ensure_dir(output_dir_);
for (const auto& entry : std::filesystem::directory_iterator(shm_dir_)) {
if (entry.path().extension() == ".mp4") {
std::filesystem::remove(entry.path());
}
}
}
VideoBatchWriter::~VideoBatchWriter() {
shutdown();
}
void VideoBatchWriter::ensure_dir(const std::string& dir) {
std::filesystem::create_directories(dir);
}
void VideoBatchWriter::on_new_batch(int batch_number) {
current_batch_ = batch_number;
delaying_ = true;
delay_start_ = std::chrono::steady_clock::now();
}
void VideoBatchWriter::on_batch_closed(int batch_number) {
if (recording_ && current_batch_ == batch_number) {
stop_and_move(batch_number);
}
delaying_ = false;
recording_ = false;
current_batch_ = 0;
}
void VideoBatchWriter::feed_frame(const cv::Mat& raw) {
if (delaying_) {
auto elapsed = std::chrono::duration<float>(
std::chrono::steady_clock::now() - delay_start_).count();
if (elapsed >= delay_sec_) {
delaying_ = false;
start_recording(current_batch_);
}
}
if (recording_ && writer_.isOpened()) {
writer_.write(raw);
}
}
void VideoBatchWriter::start_recording(int batch_number) {
if (writer_.isOpened()) writer_.release();
auto t = std::chrono::system_clock::to_time_t(std::chrono::system_clock::now());
std::ostringstream name;
name << "batch_" << batch_number << "_"
<< std::put_time(std::localtime(&t), "%Y%m%d_%H%M%S") << ".mp4";
current_path_ = shm_dir_ + "/" + name.str();
writer_.open(current_path_,
cv::VideoWriter::fourcc('a','v','c','1'),
fps_, cv::Size(w_, h_));
recording_ = writer_.isOpened();
if (recording_) {
std::cout << "[RECORD] Started: " << current_path_ << std::endl;
} else {
std::cerr << "[RECORD] Failed to open: " << current_path_ << std::endl;
}
}
static void copy_and_clean(const std::string& src, const std::string& dst) {
if (src.empty() || dst.empty()) return;
{
std::ifstream ifs(src, std::ios::binary);
if (ifs) {
std::ofstream ofs(dst, std::ios::binary);
ofs << ifs.rdbuf();
ofs.flush();
}
}
std::error_code ec;
std::filesystem::remove(src, ec);
}
void VideoBatchWriter::stop_and_move(int batch_number) {
if (writer_.isOpened()) {
writer_.release();
std::cout << "[RECORD] Stopped: " << current_path_ << std::endl;
}
std::string src = current_path_;
current_path_.clear();
auto t = std::chrono::system_clock::to_time_t(std::chrono::system_clock::now());
std::ostringstream name;
name << "batch_" << batch_number << "_"
<< std::put_time(std::localtime(&t), "%Y%m%d_%H%M%S") << ".mp4";
std::string dst = output_dir_ + "/" + name.str();
pid_t pid = fork();
if (pid == 0) {
close(STDIN_FILENO);
close(STDOUT_FILENO);
close(STDERR_FILENO);
copy_and_clean(src, dst);
_exit(0);
}
}
void VideoBatchWriter::shutdown() {
if (writer_.isOpened()) {
writer_.release();
}
recording_ = false;
delaying_ = false;
if (!current_path_.empty()) {
std::string src = current_path_;
std::string dst = output_dir_ + "/" +
std::filesystem::path(current_path_).filename().string();
current_path_.clear();
pid_t pid = fork();
if (pid == 0) {
close(STDIN_FILENO);
close(STDOUT_FILENO);
close(STDERR_FILENO);
copy_and_clean(src, dst);
_exit(0);
}
}
}
src/video_writer.hpp
+36
View File
@@ -0,0 +1,36 @@
#pragma once
#include <opencv2/opencv.hpp>
#include <string>
#include <chrono>
class VideoBatchWriter {
public:
VideoBatchWriter(const std::string& shm_dir,
const std::string& output_dir,
int w, int h, int fps,
float delay_sec);
~VideoBatchWriter();
void on_new_batch(int batch_number);
void on_batch_closed(int batch_number);
void feed_frame(const cv::Mat& raw);
void shutdown();
private:
void start_recording(int batch_number);
void stop_and_move(int batch_number);
void ensure_dir(const std::string& dir);
std::string shm_dir_;
std::string output_dir_;
int w_, h_, fps_;
float delay_sec_;
bool delaying_ = false;
bool recording_ = false;
std::chrono::steady_clock::time_point delay_start_;
cv::VideoWriter writer_;
std::string current_path_;
int current_batch_ = 0;
};