mirror of
https://github.com/blakeblackshear/frigate.git
synced 2026-08-03 01:22:17 +03:00
Estimated object speed for zones (#16452)
* utility functions * backend config * backend object speed tracking * draw speed on debug view * basic frontend zone editor * remove line sorting * fix types * highlight line on canvas when entering value in zone edit pane * rename vars and add validation * ensure speed estimation is disabled when user adds more than 4 points * pixel velocity in debug * unit_system in config * ability to define unit system in config * save max speed to db * frontend * docs * clarify docs * utility functions * backend config * backend object speed tracking * draw speed on debug view * basic frontend zone editor * remove line sorting * fix types * highlight line on canvas when entering value in zone edit pane * rename vars and add validation * ensure speed estimation is disabled when user adds more than 4 points * pixel velocity in debug * unit_system in config * ability to define unit system in config * save max speed to db * frontend * docs * clarify docs * fix duplicates from merge * include max_estimated_speed in api responses * add units to zone edit pane * catch undefined * add average speed * clarify docs * only track average speed when object is active * rename vars * ensure points and distances are ordered clockwise * only store the last 10 speeds like score history * remove max estimated speed * update docs * update docs * fix point ordering * improve readability * docs inertia recommendation * fix point ordering * check object frame time * add velocity angle to frontend * docs clarity * add frontend speed filter * fix mqtt docs * fix mqtt docs * don't try to remove distances if they weren't already defined * don't display estimates on debug view/snapshots if object is not in a speed tracking zone * docs * implement speed_threshold for zone presence * docs for threshold * better ground plane image * improve image zone size * add inertia to speed threshold example
This commit is contained in:
Josh Hawkins
@@ -12,6 +12,7 @@ import numpy as np
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from frigate.config import (
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CameraConfig,
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ModelConfig,
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UIConfig,
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)
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from frigate.review.types import SeverityEnum
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from frigate.util.image import (
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@@ -22,6 +23,7 @@ from frigate.util.image import (
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is_better_thumbnail,
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)
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from frigate.util.object import box_inside
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from frigate.util.velocity import calculate_real_world_speed
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logger = logging.getLogger(__name__)
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@@ -31,6 +33,7 @@ class TrackedObject:
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self,
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model_config: ModelConfig,
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camera_config: CameraConfig,
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ui_config: UIConfig,
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frame_cache,
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obj_data: dict[str, any],
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):
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@@ -42,6 +45,7 @@ class TrackedObject:
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self.colormap = model_config.colormap
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self.logos = model_config.all_attribute_logos
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self.camera_config = camera_config
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self.ui_config = ui_config
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self.frame_cache = frame_cache
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self.zone_presence: dict[str, int] = {}
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self.zone_loitering: dict[str, int] = {}
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@@ -58,6 +62,10 @@ class TrackedObject:
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self.frame = None
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self.active = True
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self.pending_loitering = False
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self.speed_history = []
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self.current_estimated_speed = 0
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self.average_estimated_speed = 0
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self.velocity_angle = 0
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self.previous = self.to_dict()
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@property
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@@ -129,6 +137,8 @@ class TrackedObject:
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"region": obj_data["region"],
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"score": obj_data["score"],
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"attributes": obj_data["attributes"],
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"current_estimated_speed": self.current_estimated_speed,
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"velocity_angle": self.velocity_angle,
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}
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thumb_update = True
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@@ -136,6 +146,7 @@ class TrackedObject:
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current_zones = []
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bottom_center = (obj_data["centroid"][0], obj_data["box"][3])
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in_loitering_zone = False
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in_speed_zone = False
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# check each zone
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for name, zone in self.camera_config.zones.items():
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@@ -144,12 +155,66 @@ class TrackedObject:
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continue
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contour = zone.contour
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zone_score = self.zone_presence.get(name, 0) + 1
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# check if the object is in the zone
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if cv2.pointPolygonTest(contour, bottom_center, False) >= 0:
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# if the object passed the filters once, dont apply again
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if name in self.current_zones or not zone_filtered(self, zone.filters):
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# an object is only considered present in a zone if it has a zone inertia of 3+
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# Calculate speed first if this is a speed zone
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if (
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zone.distances
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and obj_data["frame_time"] == current_frame_time
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and self.active
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):
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speed_magnitude, self.velocity_angle = (
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calculate_real_world_speed(
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zone.contour,
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zone.distances,
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self.obj_data["estimate_velocity"],
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bottom_center,
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self.camera_config.detect.fps,
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)
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)
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if self.ui_config.unit_system == "metric":
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self.current_estimated_speed = (
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speed_magnitude * 3.6
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) # m/s to km/h
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else:
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self.current_estimated_speed = (
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speed_magnitude * 0.681818
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) # ft/s to mph
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self.speed_history.append(self.current_estimated_speed)
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if len(self.speed_history) > 10:
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self.speed_history = self.speed_history[-10:]
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self.average_estimated_speed = sum(self.speed_history) / len(
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self.speed_history
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)
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# we've exceeded the speed threshold on the zone
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# or we don't have a speed threshold set
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if (
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zone.speed_threshold is None
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or self.average_estimated_speed > zone.speed_threshold
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):
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in_speed_zone = True
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logger.debug(
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f"Camera: {self.camera_config.name}, tracked object ID: {self.obj_data['id']}, "
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f"zone: {name}, pixel velocity: {str(tuple(np.round(self.obj_data['estimate_velocity']).flatten().astype(int)))}, "
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f"speed magnitude: {speed_magnitude}, velocity angle: {self.velocity_angle}, "
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f"estimated speed: {self.current_estimated_speed:.1f}, "
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f"average speed: {self.average_estimated_speed:.1f}, "
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f"length: {len(self.speed_history)}"
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)
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# Check zone entry conditions - for speed zones, require both inertia and speed
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if zone_score >= zone.inertia:
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if zone.distances and not in_speed_zone:
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continue # Skip zone entry for speed zones until speed threshold met
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# if the zone has loitering time, update loitering status
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if zone.loitering_time > 0:
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in_loitering_zone = True
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@@ -174,6 +239,10 @@ class TrackedObject:
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if 0 < zone_score < zone.inertia:
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self.zone_presence[name] = zone_score - 1
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# Reset speed if not in speed zone
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if zone.distances and name not in current_zones:
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self.current_estimated_speed = 0
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# update loitering status
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self.pending_loitering = in_loitering_zone
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@@ -255,6 +324,9 @@ class TrackedObject:
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"current_attributes": self.obj_data["attributes"],
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"pending_loitering": self.pending_loitering,
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"max_severity": self.max_severity,
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"current_estimated_speed": self.current_estimated_speed,
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"average_estimated_speed": self.average_estimated_speed,
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"velocity_angle": self.velocity_angle,
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}
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if include_thumbnail:
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@@ -339,7 +411,12 @@ class TrackedObject:
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box[2],
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box[3],
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self.obj_data["label"],
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f"{int(self.thumbnail_data['score'] * 100)}% {int(self.thumbnail_data['area'])}",
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f"{int(self.thumbnail_data['score'] * 100)}% {int(self.thumbnail_data['area'])}"
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+ (
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f" {self.thumbnail_data['current_estimated_speed']:.1f}"
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if self.thumbnail_data["current_estimated_speed"] != 0
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else ""
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),
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thickness=thickness,
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color=color,
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)
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