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https://github.com/blakeblackshear/frigate.git
synced 2026-02-07 03:35:26 +03:00
limit zoom with max target box
This commit is contained in:
Josh Hawkins
parent
b624134ad3
commit
7ed399cf9e
@ -54,6 +54,7 @@ INSERT_MANY_RECORDINGS = "insert_many_recordings"
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# Autotracking
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AUTOTRACKING_MAX_AREA_RATIO = 0.5
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AUTOTRACKING_MOTION_MIN_DISTANCE = 20
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AUTOTRACKING_MOTION_MAX_POINTS = 500
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AUTOTRACKING_MAX_MOVE_METRICS = 500
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@ -20,6 +20,7 @@ from norfair.camera_motion import (
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from frigate.config import CameraConfig, FrigateConfig, ZoomingModeEnum
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from frigate.const import (
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AUTOTRACKING_MAX_AREA_RATIO,
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AUTOTRACKING_MAX_MOVE_METRICS,
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AUTOTRACKING_MOTION_MAX_POINTS,
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AUTOTRACKING_MOTION_MIN_DISTANCE,
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@ -42,7 +43,7 @@ def ptz_moving_at_frame_time(frame_time, ptz_start_time, ptz_stop_time):
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# ptz_start_time is initialized to 0 on startup and only changes
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# when autotracking movements are made
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return (ptz_start_time != 0.0 and frame_time > ptz_start_time) and (
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ptz_stop_time == 0.0 or (ptz_start_time <= frame_time <= ptz_stop_time)
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ptz_stop_time == 0.0 or (ptz_start_time <= frame_time < ptz_stop_time)
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)
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@ -213,7 +214,10 @@ class PtzAutoTracker:
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self.tracked_object_history[camera] = deque(
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maxlen=round(camera_config.detect.fps * 1.5)
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)
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self.tracked_object_metrics[camera] = {}
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self.tracked_object_metrics[camera] = {
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"max_target_box": AUTOTRACKING_MAX_AREA_RATIO
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** (1 / self.zoom_factor[camera])
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}
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self.calibrating[camera] = False
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self.move_metrics[camera] = []
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@ -408,7 +412,12 @@ class PtzAutoTracker:
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IQR = Q3 - Q1
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lower_bound = Q1 - 1.5 * IQR
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upper_bound = Q3 + 1.5 * IQR
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return [x for x in data if lower_bound <= x <= upper_bound]
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filtered_data = [x for x in data if lower_bound <= x <= upper_bound]
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removed_values = [x for x in data if x not in filtered_data]
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logger.debug(f"{camera}: Removed area outliers: {removed_values}")
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return filtered_data
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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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@ -416,7 +425,13 @@ class PtzAutoTracker:
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# Extract areas and calculate weighted average
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areas = [obj["area"] for obj in self.tracked_object_history[camera]]
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filtered_areas = remove_outliers(areas)
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filtered_areas = (
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remove_outliers(areas)
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if len(areas) >= self.config.cameras[camera].detect.fps / 2
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else areas
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)
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weights = np.arange(1, len(filtered_areas) + 1)
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weighted_area = np.average(filtered_areas, weights=weights)
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@ -424,10 +439,6 @@ class PtzAutoTracker:
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weighted_area / (camera_width * camera_height)
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) ** self.zoom_factor[camera]
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self.tracked_object_metrics[camera]["max_target_box"] = self.zoom_factor[
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camera
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] ** (1 / self.zoom_factor[camera])
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# self.tracked_object_metrics[camera]["target_box"] = statistics.median(
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# [obj["area"] for obj in self.tracked_object_history[camera]]
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# ) / (camera_width * camera_height)
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@ -584,8 +595,10 @@ class PtzAutoTracker:
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valid_arrays = [array for array in arrays if is_valid(array[1] - array[0])]
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return valid_arrays
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bbox_start = obj.previous["box"]
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bbox_end = obj.obj_data["box"]
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centroid_x = int((obj.previous["box"][0] + obj.previous["box"][2]) / 2.0)
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centroid_y = int((obj.previous["box"][1] + obj.previous["box"][3]) / 2.0)
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bbox_start = [centroid_x, centroid_y]
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bbox_end = obj.obj_data["centroid"]
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start_time = obj.previous["frame_time"]
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end_time = obj.obj_data["frame_time"]
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if ptz_moving_at_frame_time(
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@ -594,7 +607,7 @@ class PtzAutoTracker:
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self.ptz_metrics[camera]["ptz_stop_time"].value,
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):
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logger.debug(
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f"{camera} ptz moving at velocity check start time: True {start_time}"
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f"{camera}: ptz moving at velocity check start time: True {start_time}"
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)
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if ptz_moving_at_frame_time(
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end_time,
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@ -602,14 +615,16 @@ class PtzAutoTracker:
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self.ptz_metrics[camera]["ptz_stop_time"].value,
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):
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logger.debug(
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f"{camera} ptz moving at velocity check end time: True {start_time}"
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f"{camera}: ptz moving at velocity check end time: True {start_time}"
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)
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# add small amount to avoid division by zero
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velocity = [
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round((end - start) / ((end_time - start_time) * camera_fps + 1e-6))
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for start, end in zip(bbox_start, bbox_end)
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]
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logger.debug(f"{camera}: Calculated velocity: {velocity}")
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logger.debug(
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f"{camera}: Calculated velocity: {velocity}, start: {start_time}, end: {end_time}, diff: {end_time-start_time}, frames: {int((end_time-start_time)*camera_fps)}"
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)
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velocities = obj.obj_data["estimate_velocity"]
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diff = np.abs(velocities[1] - velocities[0])
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@ -726,12 +741,24 @@ class PtzAutoTracker:
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)
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# introduce some hysteresis to prevent a yo-yo zooming effect
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zoom_out_hysteresis = self.tracked_object_metrics[camera]["target_box"] > (
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self.tracked_object_metrics[camera]["original_target_box"]
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zoom_out_hysteresis = (
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self.tracked_object_metrics[camera]["target_box"]
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> (
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self.tracked_object_metrics[camera]["original_target_box"]
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* AUTOTRACKING_ZOOM_OUT_HYSTERESIS
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)
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or self.tracked_object_metrics[camera]["target_box"]
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> self.tracked_object_metrics[camera]["max_target_box"]
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* AUTOTRACKING_ZOOM_OUT_HYSTERESIS
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)
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zoom_in_hysteresis = self.tracked_object_metrics[camera]["target_box"] < (
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self.tracked_object_metrics[camera]["original_target_box"]
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zoom_in_hysteresis = (
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self.tracked_object_metrics[camera]["target_box"]
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< (
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self.tracked_object_metrics[camera]["original_target_box"]
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* AUTOTRACKING_ZOOM_IN_HYSTERESIS
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)
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or self.tracked_object_metrics[camera]["target_box"]
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< self.tracked_object_metrics[camera]["max_target_box"]
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* AUTOTRACKING_ZOOM_IN_HYSTERESIS
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)
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@ -741,7 +768,7 @@ class PtzAutoTracker:
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# debug zooming
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if debug_zooming:
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logger.debug(
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f"{camera}: Zoom test: far from edges: count: {touching_frame_edges} left: {bb_left < edge_threshold * camera_width}, right: {bb_right > (1 - edge_threshold) * camera_width}, top: {bb_top < edge_threshold * camera_height}, bottom: {bb_bottom > (1 - edge_threshold) * camera_height}"
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f"{camera}: Zoom test: touching edges: count: {touching_frame_edges} left: {bb_left < edge_threshold * camera_width}, right: {bb_right > (1 - edge_threshold) * camera_width}, top: {bb_top < edge_threshold * camera_height}, bottom: {bb_bottom > (1 - edge_threshold) * camera_height}"
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)
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logger.debug(
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f"{camera}: Zoom test: below distance threshold: {(below_distance_threshold)}"
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@ -758,10 +785,10 @@ class PtzAutoTracker:
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logger.debug(f"{camera}: Zoom test: at max zoom: {at_max_zoom}")
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logger.debug(f"{camera}: Zoom test: at min zoom: {at_min_zoom}")
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logger.debug(
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f'{camera}: Zoom test: zoom in hysteresis limit: {zoom_in_hysteresis} value: {AUTOTRACKING_ZOOM_IN_HYSTERESIS} original: {self.tracked_object_metrics[camera]["original_target_box"]} target: {self.tracked_object_metrics[camera]["target_box"]}'
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f'{camera}: Zoom test: zoom in hysteresis limit: {zoom_in_hysteresis} value: {AUTOTRACKING_ZOOM_IN_HYSTERESIS} original: {self.tracked_object_metrics[camera]["original_target_box"]} max: {self.tracked_object_metrics[camera]["max_target_box"]} target: {self.tracked_object_metrics[camera]["target_box"]}'
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)
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logger.debug(
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f'{camera}: Zoom test: zoom out hysteresis limit: {zoom_out_hysteresis} value: {AUTOTRACKING_ZOOM_OUT_HYSTERESIS} original: {self.tracked_object_metrics[camera]["original_target_box"]} target: {self.tracked_object_metrics[camera]["target_box"]}'
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f'{camera}: Zoom test: zoom out hysteresis limit: {zoom_out_hysteresis} value: {AUTOTRACKING_ZOOM_OUT_HYSTERESIS} original: {self.tracked_object_metrics[camera]["original_target_box"]} max: {self.tracked_object_metrics[camera]["max_target_box"]} target: {self.tracked_object_metrics[camera]["target_box"]}'
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)
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# Zoom in conditions (and)
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@ -888,8 +915,13 @@ class PtzAutoTracker:
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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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# this is our initial zoom in on a new object
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if not self.tracked_object_metrics[camera]:
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if "target_box" not in self.tracked_object_metrics[camera]:
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zoom = target_box ** self.zoom_factor[camera]
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if target_box > self.tracked_object_metrics[camera]["max_target_box"]:
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zoom = -(1 - zoom)
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logger.debug(
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f"{camera}: target box: {target_box}, max: {self.tracked_object_metrics[camera]['max_target_box']}, calc zoom: {zoom}"
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)
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else:
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if (
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result := self._should_zoom_in(
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@ -902,15 +934,19 @@ class PtzAutoTracker:
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)
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) is not None:
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# zoom value
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limit = (
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self.tracked_object_metrics[camera]["original_target_box"]
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if self.tracked_object_metrics[camera]["target_box"]
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< self.tracked_object_metrics[camera]["max_target_box"]
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else self.tracked_object_metrics[camera]["max_target_box"]
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)
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zoom = (
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2
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* (
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self.tracked_object_metrics[camera]["original_target_box"]
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limit
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/ (
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self.tracked_object_metrics[camera]["target_box"]
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+ self.tracked_object_metrics[camera][
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"original_target_box"
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]
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+ limit
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)
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)
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- 1
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@ -1038,7 +1074,10 @@ class PtzAutoTracker:
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f"{camera}: End object: {obj.obj_data['id']} {obj.obj_data['box']}"
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)
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self.tracked_object[camera] = None
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self.tracked_object_metrics[camera] = {}
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self.tracked_object_metrics[camera] = {
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"max_target_box": AUTOTRACKING_MAX_AREA_RATIO
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** (1 / self.zoom_factor[camera])
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}
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def camera_maintenance(self, camera):
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# bail and don't check anything if we're calibrating or tracking an object
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