mirror of
https://github.com/blakeblackshear/frigate.git
synced 2026-02-06 19:25:22 +03:00
clean up and update zoom logic
This commit is contained in:
Josh Hawkins
parent
4dfac5a7df
commit
24bb91eed8
@ -409,6 +409,10 @@ class PtzAutoTracker:
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if pan != 0 or tilt != 0:
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self.onvif._move_relative(camera, pan, tilt, 0, 1)
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# Wait until the camera finishes moving
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while not self.ptz_metrics[camera]["ptz_stopped"].is_set():
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self.onvif.get_camera_status(camera)
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if (
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zoom > 0
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and self.ptz_metrics[camera]["ptz_zoom_level"].value != zoom
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@ -417,12 +421,6 @@ class PtzAutoTracker:
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# Wait until the camera finishes moving
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while not self.ptz_metrics[camera]["ptz_stopped"].is_set():
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# check if ptz is moving
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self.onvif.get_camera_status(camera)
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# Wait until the camera finishes moving
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while not self.ptz_metrics[camera]["ptz_stopped"].is_set():
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# check if ptz is moving
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self.onvif.get_camera_status(camera)
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if self.config.cameras[camera].onvif.autotracking.movement_weights:
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@ -488,13 +486,44 @@ class PtzAutoTracker:
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tilt = tilt_excess
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zoom = zoom_excess
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def _below_distance_threshold(self, camera, obj):
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# Returns true if Euclidean distance from object to center of frame is
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# less than 15% of the of the larger dimension (width or height) of the frame,
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# multiplied by a scaling factor for object size.
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# Adjusting this percentage slightly lower will effectively cause the camera to move
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# more often to keep the object in the center. Raising the percentage will cause less
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# movement and will be more flexible with objects not quite being centered.
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# TODO: there's probably a better way to approach this
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camera_config = self.config.cameras[camera]
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distance = np.linalg.norm(
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[
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obj.obj_data["centroid"][0] - camera_config.detect.width / 2,
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obj.obj_data["centroid"][1] - camera_config.detect.height / 2,
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]
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)
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obj_width = obj.obj_data["box"][2] - obj.obj_data["box"][0]
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obj_height = obj.obj_data["box"][3] - obj.obj_data["box"][1]
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max_obj = max(obj_width, obj_height)
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max_frame = max(camera_config.detect.width, camera_config.detect.height)
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# larger objects should lower the threshold, smaller objects should raise it
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scaling_factor = 1 - (max_obj / max_frame)
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distance_threshold = 0.15 * (max_frame) * scaling_factor
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logger.debug(f"Distance: {distance}, threshold: {distance_threshold}")
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return distance < distance_threshold
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def _should_zoom_in(self, camera, obj, box):
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camera_config = self.config.cameras[camera]
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camera_width = camera_config.frame_shape[1]
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camera_height = camera_config.frame_shape[0]
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camera_area = camera_width * camera_height
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obj.obj_data["area"]
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x1, y1, x2, y2 = obj.obj_data["estimate_velocity"]
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average_velocity = (
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(x1 + x2) / 2,
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@ -505,31 +534,48 @@ class PtzAutoTracker:
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bb_left, bb_top, bb_right, bb_bottom = box
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# If bounding box is not within 5% of an edge
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# If object area is less than 70% of frame
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# If bounding box is not within 15% of an edge, and euclidean distance to center is within threshold
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# If object area is less than 1 - zoom_factor of frame
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# Then zoom in, otherwise try zooming out
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# should we make these configurable?
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# Should we make these configurable?
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#
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# TODO: Take into account the area changing when an object is moving out of frame
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edge_threshold = 0.15
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velocity_threshold = 0.1
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# make sure object is centered in the frame
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below_distance_threshold = self._below_distance_threshold(camera, obj)
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# if we have a big object, let's zoom out
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# base the area threshold on 5 times the zoom_factor
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above_area_threshold = (
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min(
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obj.obj_data["area"] / camera_area * 5 * self.zoom_factor[camera],
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1,
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)
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== 1
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below_area_threshold = (obj.obj_data["area"] / camera_area) < (
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1 - self.zoom_factor[camera]
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)
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# if we have a fast moving object, let's zoom out
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# fast moving is defined as a velocity of more than 10% of the camera's width or height
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# so an object with an x velocity of 15 pixels on a 1280x720 camera would trigger a zoom out
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above_velocity_threshold = average_velocity[0] > (
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camera_width * velocity_threshold
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) or average_velocity[1] > (camera_height * velocity_threshold)
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# so an object with an x velocity of 15 pixels per second on a 1280x720 camera would trigger a zoom out
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below_velocity_threshold = abs(
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average_velocity[0]
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) * camera_config.detect.fps < (camera_width * velocity_threshold) and abs(
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average_velocity[1]
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) * camera_config.detect.fps < (
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camera_height * velocity_threshold
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)
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logger.debug(f"Zoom test: left edge: {bb_left > edge_threshold * camera_width}")
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logger.debug(
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f"Zoom test: right edge: {bb_right < (1 - edge_threshold) * camera_width}"
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)
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logger.debug(f"Zoom test: top edge: {bb_top > edge_threshold * camera_height}")
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logger.debug(
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f"Zoom test: bottom edge: {bb_bottom < (1 - edge_threshold) * camera_height}"
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)
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logger.debug(
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f"Zoom test: below area threshold: {below_area_threshold} ratio: {obj.obj_data['area']/camera_area}, threshold value: {1-self.zoom_factor[camera]}"
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)
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logger.debug(
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f"Zoom test: below velocity threshold: {below_velocity_threshold} velocity x: {abs(average_velocity[0])* camera_config.detect.fps}, threshold value: {camera_width * velocity_threshold}"
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)
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# returns True to zoom in, False to zoom out
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return (
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@ -537,8 +583,9 @@ class PtzAutoTracker:
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and bb_right < (1 - edge_threshold) * camera_width
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and bb_top > edge_threshold * camera_height
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and bb_bottom < (1 - edge_threshold) * camera_height
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and not above_area_threshold
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and not above_velocity_threshold
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and below_distance_threshold
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and below_area_threshold
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and below_velocity_threshold
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)
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def _autotrack_move_ptz(self, camera, obj):
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@ -546,7 +593,7 @@ class PtzAutoTracker:
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average_velocity = (0,) * 4
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predicted_box = obj.obj_data["box"]
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# # frame width and height
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# frame width and height
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camera_width = camera_config.frame_shape[1]
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camera_height = camera_config.frame_shape[0]
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camera_fps = camera_config.detect.fps
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@ -573,11 +620,9 @@ class PtzAutoTracker:
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)
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# get euclidean distance of the two points, sometimes the estimate is way off
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# may not need this
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# distance = np.linalg.norm([x2 - x1, y2 - y1])
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distance = np.linalg.norm([x2 - x1, y2 - y1])
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# make sure we're not dealing with a disappeared object
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if not all(x == 0.0 for x in obj.score_history[-3:]):
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if distance <= 5:
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# this box could exceed the frame boundaries if velocity is high
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# but we'll handle that in _enqueue_move() as two separate moves
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predicted_box = [
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@ -593,6 +638,7 @@ class PtzAutoTracker:
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tilt = (0.5 - (centroid_y / camera_height)) * 2
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logger.debug(f'Original box: {obj.obj_data["box"]}')
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logger.debug(f"Predicted box: {predicted_box}")
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logger.debug(f'Velocity: {obj.obj_data["estimate_velocity"]}')
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zoom = self._get_zoom_amount(camera, obj, predicted_box)
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@ -615,16 +661,22 @@ class PtzAutoTracker:
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if camera_config.onvif.autotracking.zooming == ZoomingModeEnum.absolute:
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zoom_level = self.ptz_metrics[camera]["ptz_zoom_level"].value
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# don't zoom on initial move
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if self.tracked_object_previous[camera] is None:
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zoom = zoom_level
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else:
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if 0 < zoom_level <= 1:
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if self._should_zoom_in(camera, obj, obj.obj_data["box"]):
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zoom = min(1.0, zoom_level + 0.1)
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else:
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zoom = max(0.0, zoom_level - 0.1)
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return zoom
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if camera_config.onvif.autotracking.zooming == ZoomingModeEnum.relative:
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# relative zooming concurrently with pan/tilt
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if camera_config.onvif.autotracking.zooming == ZoomingModeEnum.relative:
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# don't zoom on initial move
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if self.tracked_object_previous[camera] is None:
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zoom = 0
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else:
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zoom = min(
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obj.obj_data["area"]
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/ (camera_width * camera_height)
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@ -643,17 +695,6 @@ class PtzAutoTracker:
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):
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zoom = -zoom
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# don't make small movements to zoom in if area hasn't changed significantly
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# but always zoom out if necessary
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if (
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"area" in obj.previous
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and abs(obj.obj_data["area"] - obj.previous["area"])
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/ obj.obj_data["area"]
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< 0.2
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and zoom > 0
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):
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zoom = 0
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return zoom
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def _lost_object_zoom(self, camera, obj):
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@ -706,9 +747,9 @@ class PtzAutoTracker:
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f"Autotrack: New object: {obj.obj_data['id']} {obj.obj_data['box']} {obj.obj_data['frame_time']}"
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)
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self.tracked_object[camera] = obj
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self._autotrack_move_ptz(camera, obj)
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self.tracked_object_previous[camera] = copy.deepcopy(obj)
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self.previous_frame_time[camera] = obj.obj_data["frame_time"]
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self._autotrack_move_ptz(camera, obj)
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return
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@ -718,43 +759,16 @@ class PtzAutoTracker:
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and self.tracked_object_previous[camera] is not None
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and obj.obj_data["id"] == self.tracked_object[camera].obj_data["id"]
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and obj.obj_data["frame_time"] != self.previous_frame_time
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and obj.score_history[-1] != 0.0
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):
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self.previous_frame_time[camera] = obj.obj_data["frame_time"]
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# Don't move ptz if Euclidean distance from object to center of frame is
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# less than 15% of the of the larger dimension (width or height) of the frame,
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# multiplied by a scaling factor for object size.
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# Adjusting this percentage slightly lower will effectively cause the camera to move
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# more often to keep the object in the center. Raising the percentage will cause less
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# movement and will be more flexible with objects not quite being centered.
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# TODO: there's probably a better way to approach this
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distance = np.linalg.norm(
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[
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obj.obj_data["centroid"][0] - camera_config.detect.width / 2,
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obj.obj_data["centroid"][1] - camera_config.detect.height / 2,
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]
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)
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obj_width = obj.obj_data["box"][2] - obj.obj_data["box"][0]
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obj_height = obj.obj_data["box"][3] - obj.obj_data["box"][1]
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max_obj = max(obj_width, obj_height)
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max_frame = max(camera_config.detect.width, camera_config.detect.height)
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# larger objects should lower the threshold, smaller objects should raise it
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scaling_factor = 1 - (max_obj / max_frame)
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distance_threshold = 0.15 * (max_frame) * scaling_factor
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iou = intersection_over_union(
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if (
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self._below_distance_threshold(camera, obj)
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and intersection_over_union(
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self.tracked_object_previous[camera].obj_data["box"],
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obj.obj_data["box"],
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)
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logger.debug(
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f"Distance: {distance}, threshold: {distance_threshold}, iou: {iou}"
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)
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if distance < distance_threshold and iou > 0.2:
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> 0.2
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):
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logger.debug(
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f"Autotrack: Existing object (do NOT move ptz): {obj.obj_data['id']} {obj.obj_data['box']} {obj.obj_data['frame_time']}"
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)
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@ -767,8 +781,10 @@ class PtzAutoTracker:
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logger.debug(
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f"Autotrack: Existing object (need to move ptz): {obj.obj_data['id']} {obj.obj_data['box']} {obj.obj_data['frame_time']}"
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)
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self.tracked_object_previous[camera] = copy.deepcopy(obj)
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self._autotrack_move_ptz(camera, obj)
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self.tracked_object_previous[camera] = copy.deepcopy(obj)
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self.previous_frame_time[camera] = obj.obj_data["frame_time"]
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# if our score history shows the last 5 detections are 0, zoom to see if we can find our lost object
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if all(x == 0.0 for x in obj.score_history[-5:]):
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@ -788,7 +804,6 @@ class PtzAutoTracker:
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and not obj.false_positive
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and self.tracked_object_previous[camera] is not None
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):
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self.previous_frame_time[camera] = obj.obj_data["frame_time"]
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if (
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intersection_over_union(
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self.tracked_object_previous[camera].obj_data["region"],
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@ -800,8 +815,9 @@ class PtzAutoTracker:
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f"Autotrack: Reacquired object: {obj.obj_data['id']} {obj.obj_data['box']} {obj.obj_data['frame_time']}"
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)
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self.tracked_object[camera] = obj
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self.tracked_object_previous[camera] = copy.deepcopy(obj)
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self._autotrack_move_ptz(camera, obj)
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self.tracked_object_previous[camera] = copy.deepcopy(obj)
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self.previous_frame_time[camera] = obj.obj_data["frame_time"]
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return
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@ -21,7 +21,6 @@ from frigate.log import LogPipe
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from frigate.motion import MotionDetector
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from frigate.motion.improved_motion import ImprovedMotionDetector
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from frigate.object_detection import RemoteObjectDetector
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from frigate.ptz.autotrack import ptz_moving_at_frame_time
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from frigate.track import ObjectTracker
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from frigate.track.norfair_tracker import NorfairTracker
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from frigate.types import PTZMetricsTypes
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@ -783,11 +782,11 @@ def process_frames(
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motion_boxes = (
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motion_detector.detect(frame)
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if motion_enabled.value
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and not ptz_moving_at_frame_time(
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frame_time,
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ptz_metrics["ptz_start_time"].value,
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ptz_metrics["ptz_stop_time"].value,
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)
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# and not ptz_moving_at_frame_time(
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# frame_time,
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# ptz_metrics["ptz_start_time"].value,
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# ptz_metrics["ptz_stop_time"].value,
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# )
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else []
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)
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