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small tweaks and a bugfix

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This commit is contained in:
Josh Hawkins 2023-07-12 19:53:23 -05:00
parent 50f113277b
commit a67ec5a97c
1 changed files with 61 additions and 40 deletions
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81
frigate/ptz/autotrack.py
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@ -144,6 +144,7 @@ class PtzAutoTracker:
self.ptz_metrics = ptz_metrics self.ptz_metrics = ptz_metrics
self.tracked_object: dict[str, object] = {} self.tracked_object: dict[str, object] = {}
self.tracked_object_previous: dict[str, object] = {} self.tracked_object_previous: dict[str, object] = {}
self.previous_frame_time = None
self.object_types = {} self.object_types = {}
self.required_zones = {} self.required_zones = {}
self.move_queues = {} self.move_queues = {}
@ -204,34 +205,67 @@ class PtzAutoTracker:
tilt = 0 tilt = 0
while not self.move_queues[camera].empty(): while not self.move_queues[camera].empty():
queued_pan, queued_tilt = self.move_queues[camera].queue[0] frame_time, queued_pan, queued_tilt = self.move_queues[
camera
].queue[0]
# if we're receiving move requests during a PTZ move, ignore them
if ptz_moving_at_frame_time(
frame_time,
self.ptz_metrics[camera]["ptz_start_time"].value,
self.ptz_metrics[camera]["ptz_stop_time"].value,
):
self.move_queues[camera].get()
# instead of dequeueing this might be a good place to preemptively move based
# on an estimate - for fast moving objects, etc.
logger.debug(
f"Move queue: PTZ moving, dequeueing move request - frame time: {frame_time}, queued pan: {queued_pan}, queued tilt: {queued_tilt}, final pan: {pan}, final tilt: {tilt}"
)
else:
# TODO: this may need rethinking
logger.debug(
f"Move queue: PTZ NOT moving, frame time: {frame_time}, queued pan: {queued_pan}, queued tilt: {queued_tilt}, final pan: {pan}, final tilt: {tilt}"
)
_, queued_pan, queued_tilt = self.move_queues[camera].get()
# If exceeding the movement range, keep it in the queue and move now # If exceeding the movement range, keep it in the queue and move now
if abs(pan + queued_pan) > 1.0 or abs(tilt + queued_tilt) > 1.0: if (
abs(pan + queued_pan) > 1.0
or abs(tilt + queued_tilt) > 1.0
):
logger.debug("Pan or tilt value exceeds 1.0") logger.debug("Pan or tilt value exceeds 1.0")
break break
queued_pan, queued_tilt = self.move_queues[camera].get()
pan += queued_pan pan += queued_pan
tilt += queued_tilt tilt += queued_tilt
else: else:
move_data = self.move_queues[camera].get() move_data = self.move_queues[camera].get()
pan, tilt = move_data frame_time, pan, tilt = move_data
# on some cameras with cheaper motors it seems like small values can cause jerky movement
# TODO: double check, might not need this
if abs(pan) > 0.02 or abs(tilt) > 0.02:
self.onvif._move_relative(camera, pan, tilt, 1) self.onvif._move_relative(camera, pan, tilt, 1)
else:
logger.debug(f"Not moving, pan and tilt too small: {pan}, {tilt}")
# Wait until the camera finishes moving # Wait until the camera finishes moving
while not self.ptz_metrics[camera]["ptz_stopped"].is_set(): while not self.ptz_metrics[camera]["ptz_stopped"].is_set():
# check if ptz is moving # check if ptz is moving
self.onvif.get_camera_status(camera) self.onvif.get_camera_status(camera)
time.sleep(1 / (self.config.cameras[camera].detect.fps / 2))
except queue.Empty: except queue.Empty:
time.sleep(0.1) time.sleep(0.1)
def _enqueue_move(self, camera, pan, tilt): def _enqueue_move(self, camera, frame_time, pan, tilt):
move_data = (pan, tilt) move_data = (frame_time, pan, tilt)
if (
frame_time > self.ptz_metrics[camera]["ptz_start_time"].value
and frame_time > self.ptz_metrics[camera]["ptz_stop_time"].value
):
logger.debug(f"enqueue pan: {pan}, enqueue tilt: {tilt}") logger.debug(f"enqueue pan: {pan}, enqueue tilt: {tilt}")
self.move_queues[camera].put(move_data) self.move_queues[camera].put(move_data)
@ -242,12 +276,12 @@ class PtzAutoTracker:
camera_width = camera_config.frame_shape[1] camera_width = camera_config.frame_shape[1]
camera_height = camera_config.frame_shape[0] camera_height = camera_config.frame_shape[0]
# Normalize coordinates. top right of the fov is (1,1). # Normalize coordinates. top right of the fov is (1,1), center is (0,0), bottom left is (-1, -1).
pan = 0.5 - (obj.obj_data["centroid"][0] / camera_width) pan = ((obj.obj_data["centroid"][0] / camera_width) - 0.5) * 2
tilt = 0.5 - (obj.obj_data["centroid"][1] / camera_height) tilt = (0.5 - (obj.obj_data["centroid"][1] / camera_height)) * 2
# ideas: check object velocity for camera speed? # ideas: check object velocity for camera speed?
self._enqueue_move(camera, -pan, tilt) self._enqueue_move(camera, obj.obj_data["frame_time"], pan, tilt)
def autotrack_object(self, camera, obj): def autotrack_object(self, camera, obj):
camera_config = self.config.cameras[camera] camera_config = self.config.cameras[camera]
@ -274,10 +308,7 @@ class PtzAutoTracker:
) )
self.tracked_object[camera] = obj self.tracked_object[camera] = obj
self.tracked_object_previous[camera] = copy.deepcopy(obj) self.tracked_object_previous[camera] = copy.deepcopy(obj)
# only enqueue another move if the camera isn't moving self.previous_frame_time = obj.obj_data["frame_time"]
if self.ptz_metrics[camera]["ptz_stopped"].is_set():
self.ptz_metrics[camera]["ptz_stopped"].clear()
logger.debug("Autotrack: New object, moving ptz")
self._autotrack_move_ptz(camera, obj) self._autotrack_move_ptz(camera, obj)
return return
@ -287,9 +318,9 @@ class PtzAutoTracker:
self.tracked_object[camera] is not None self.tracked_object[camera] is not None
and self.tracked_object_previous[camera] is not None and self.tracked_object_previous[camera] is not None
and obj.obj_data["id"] == self.tracked_object[camera].obj_data["id"] and obj.obj_data["id"] == self.tracked_object[camera].obj_data["id"]
and obj.obj_data["frame_time"] and obj.obj_data["frame_time"] != self.previous_frame_time
!= self.tracked_object_previous[camera].obj_data["frame_time"]
): ):
self.previous_frame_time = obj.obj_data["frame_time"]
# Don't move ptz if Euclidean distance from object to center of frame is # Don't move ptz if Euclidean distance from object to center of frame is
# less than 15% of the of the larger dimension (width or height) of the frame, # less than 15% of the of the larger dimension (width or height) of the frame,
# multiplied by a scaling factor for object size. # multiplied by a scaling factor for object size.
@ -323,9 +354,7 @@ class PtzAutoTracker:
f"Distance: {distance}, threshold: {distance_threshold}, iou: {iou}" f"Distance: {distance}, threshold: {distance_threshold}, iou: {iou}"
) )
if (distance < distance_threshold or iou > 0.5) and self.ptz_metrics[ if distance < distance_threshold and iou > 0.2:
camera
]["ptz_stopped"].is_set():
logger.debug( logger.debug(
f"Autotrack: Existing object (do NOT move ptz): {obj.obj_data['id']} {obj.obj_data['box']} {obj.obj_data['frame_time']}" f"Autotrack: Existing object (do NOT move ptz): {obj.obj_data['id']} {obj.obj_data['box']} {obj.obj_data['frame_time']}"
) )
@ -335,11 +364,6 @@ class PtzAutoTracker:
f"Autotrack: Existing object (need to move ptz): {obj.obj_data['id']} {obj.obj_data['box']} {obj.obj_data['frame_time']}" f"Autotrack: Existing object (need to move ptz): {obj.obj_data['id']} {obj.obj_data['box']} {obj.obj_data['frame_time']}"
) )
self.tracked_object_previous[camera] = copy.deepcopy(obj) self.tracked_object_previous[camera] = copy.deepcopy(obj)
# only enqueue another move if the camera isn't moving
if self.ptz_metrics[camera]["ptz_stopped"].is_set():
self.ptz_metrics[camera]["ptz_stopped"].clear()
logger.debug("Autotrack: Existing object, moving ptz")
self._autotrack_move_ptz(camera, obj) self._autotrack_move_ptz(camera, obj)
return return
@ -356,6 +380,7 @@ class PtzAutoTracker:
and obj.obj_data["motionless_count"] == 0 and obj.obj_data["motionless_count"] == 0
and self.tracked_object_previous[camera] is not None and self.tracked_object_previous[camera] is not None
): ):
self.previous_frame_time = obj.obj_data["frame_time"]
if ( if (
intersection_over_union( intersection_over_union(
self.tracked_object_previous[camera].obj_data["region"], self.tracked_object_previous[camera].obj_data["region"],
@ -368,10 +393,6 @@ class PtzAutoTracker:
) )
self.tracked_object[camera] = obj self.tracked_object[camera] = obj
self.tracked_object_previous[camera] = copy.deepcopy(obj) self.tracked_object_previous[camera] = copy.deepcopy(obj)
# only enqueue another move if the camera isn't moving
if self.ptz_metrics[camera]["ptz_stopped"].is_set():
self.ptz_metrics[camera]["ptz_stopped"].clear()
logger.debug("Autotrack: Reacquired object, moving ptz")
self._autotrack_move_ptz(camera, obj) self._autotrack_move_ptz(camera, obj)
return return