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synced 2026-02-05 18:55:23 +03:00
small tweaks and a bugfix
This commit is contained in:
Josh Hawkins
parent
50f113277b
commit
a67ec5a97c
@ -144,6 +144,7 @@ class PtzAutoTracker:
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self.ptz_metrics = ptz_metrics
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self.tracked_object: dict[str, object] = {}
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self.tracked_object_previous: dict[str, object] = {}
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self.previous_frame_time = None
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self.object_types = {}
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self.required_zones = {}
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self.move_queues = {}
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@ -204,36 +205,69 @@ class PtzAutoTracker:
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tilt = 0
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while not self.move_queues[camera].empty():
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queued_pan, queued_tilt = self.move_queues[camera].queue[0]
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frame_time, queued_pan, queued_tilt = self.move_queues[
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camera
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].queue[0]
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# If exceeding the movement range, keep it in the queue and move now
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if abs(pan + queued_pan) > 1.0 or abs(tilt + queued_tilt) > 1.0:
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logger.debug("Pan or tilt value exceeds 1.0")
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break
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# if we're receiving move requests during a PTZ move, ignore them
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if ptz_moving_at_frame_time(
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frame_time,
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self.ptz_metrics[camera]["ptz_start_time"].value,
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self.ptz_metrics[camera]["ptz_stop_time"].value,
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):
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self.move_queues[camera].get()
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queued_pan, queued_tilt = self.move_queues[camera].get()
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# instead of dequeueing this might be a good place to preemptively move based
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# on an estimate - for fast moving objects, etc.
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logger.debug(
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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}"
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)
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else:
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# TODO: this may need rethinking
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logger.debug(
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f"Move queue: PTZ NOT moving, frame time: {frame_time}, queued pan: {queued_pan}, queued tilt: {queued_tilt}, final pan: {pan}, final tilt: {tilt}"
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)
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_, queued_pan, queued_tilt = self.move_queues[camera].get()
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# If exceeding the movement range, keep it in the queue and move now
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if (
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abs(pan + queued_pan) > 1.0
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or abs(tilt + queued_tilt) > 1.0
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):
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logger.debug("Pan or tilt value exceeds 1.0")
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break
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pan += queued_pan
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tilt += queued_tilt
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pan += queued_pan
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tilt += queued_tilt
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else:
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move_data = self.move_queues[camera].get()
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pan, tilt = move_data
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frame_time, pan, tilt = move_data
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self.onvif._move_relative(camera, pan, tilt, 1)
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# on some cameras with cheaper motors it seems like small values can cause jerky movement
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# TODO: double check, might not need this
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if abs(pan) > 0.02 or abs(tilt) > 0.02:
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self.onvif._move_relative(camera, pan, tilt, 1)
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else:
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logger.debug(f"Not moving, pan and tilt too small: {pan}, {tilt}")
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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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time.sleep(1 / (self.config.cameras[camera].detect.fps / 2))
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except queue.Empty:
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time.sleep(0.1)
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def _enqueue_move(self, camera, pan, tilt):
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move_data = (pan, tilt)
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logger.debug(f"enqueue pan: {pan}, enqueue tilt: {tilt}")
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self.move_queues[camera].put(move_data)
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def _enqueue_move(self, camera, frame_time, pan, tilt):
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move_data = (frame_time, pan, tilt)
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if (
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frame_time > self.ptz_metrics[camera]["ptz_start_time"].value
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and frame_time > self.ptz_metrics[camera]["ptz_stop_time"].value
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):
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logger.debug(f"enqueue pan: {pan}, enqueue tilt: {tilt}")
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self.move_queues[camera].put(move_data)
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def _autotrack_move_ptz(self, camera, obj):
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camera_config = self.config.cameras[camera]
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@ -242,12 +276,12 @@ class PtzAutoTracker:
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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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# Normalize coordinates. top right of the fov is (1,1).
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pan = 0.5 - (obj.obj_data["centroid"][0] / camera_width)
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tilt = 0.5 - (obj.obj_data["centroid"][1] / camera_height)
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# Normalize coordinates. top right of the fov is (1,1), center is (0,0), bottom left is (-1, -1).
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pan = ((obj.obj_data["centroid"][0] / camera_width) - 0.5) * 2
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tilt = (0.5 - (obj.obj_data["centroid"][1] / camera_height)) * 2
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# ideas: check object velocity for camera speed?
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self._enqueue_move(camera, -pan, tilt)
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self._enqueue_move(camera, obj.obj_data["frame_time"], pan, tilt)
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def autotrack_object(self, camera, obj):
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camera_config = self.config.cameras[camera]
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@ -274,11 +308,8 @@ class PtzAutoTracker:
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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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# only enqueue another move if the camera isn't moving
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if self.ptz_metrics[camera]["ptz_stopped"].is_set():
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self.ptz_metrics[camera]["ptz_stopped"].clear()
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logger.debug("Autotrack: New object, moving ptz")
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self._autotrack_move_ptz(camera, obj)
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self.previous_frame_time = obj.obj_data["frame_time"]
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self._autotrack_move_ptz(camera, obj)
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return
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@ -287,9 +318,9 @@ class PtzAutoTracker:
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self.tracked_object[camera] is not None
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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"]
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!= self.tracked_object_previous[camera].obj_data["frame_time"]
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and obj.obj_data["frame_time"] != self.previous_frame_time
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):
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self.previous_frame_time = 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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@ -323,9 +354,7 @@ class PtzAutoTracker:
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f"Distance: {distance}, threshold: {distance_threshold}, iou: {iou}"
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)
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if (distance < distance_threshold or iou > 0.5) and self.ptz_metrics[
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camera
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]["ptz_stopped"].is_set():
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if distance < distance_threshold and iou > 0.2:
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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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@ -335,12 +364,7 @@ class PtzAutoTracker:
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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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# only enqueue another move if the camera isn't moving
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if self.ptz_metrics[camera]["ptz_stopped"].is_set():
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self.ptz_metrics[camera]["ptz_stopped"].clear()
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logger.debug("Autotrack: Existing object, moving ptz")
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self._autotrack_move_ptz(camera, obj)
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self._autotrack_move_ptz(camera, obj)
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return
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@ -356,6 +380,7 @@ class PtzAutoTracker:
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and obj.obj_data["motionless_count"] == 0
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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 = 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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@ -368,11 +393,7 @@ class PtzAutoTracker:
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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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# only enqueue another move if the camera isn't moving
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if self.ptz_metrics[camera]["ptz_stopped"].is_set():
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self.ptz_metrics[camera]["ptz_stopped"].clear()
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logger.debug("Autotrack: Reacquired object, moving ptz")
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self._autotrack_move_ptz(camera, obj)
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self._autotrack_move_ptz(camera, obj)
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return
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