utility functions

frigate/util/velocity.py

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+import math
+
+import numpy as np
+
+unit_system = "imperial"
+magnitude = "mph"
+
+
+def create_ground_plane(zone_points, distances):
+    """
+    Create a ground plane that accounts for perspective distortion using
+    real-world dimensions for each side of the zone.
+
+    :param zone_points: Array of zone corner points in pixel coordinates
+                        [[x1, y1], [x2, y2], [x3, y3], [x4, y4]]
+    :param distances: Real-world dimensions ordered by top, bottom left, right
+    :return: Function that calculates real-world distance per pixel at any coordinate
+    """
+    # Sort points by y coordinate to get top and bottom lines
+    sorted_points = zone_points[np.argsort(zone_points[:, 1])]
+    top_width, bottom_width, left_depth, right_depth = map(float, distances)
+
+    top_line = sorted_points[:2]
+    bottom_line = sorted_points[2:]
+
+    # Sort left to right for consistent indexing
+    top_line = top_line[np.argsort(top_line[:, 0])]
+    bottom_line = bottom_line[np.argsort(bottom_line[:, 0])]
+
+    # Calculate pixel lengths of each side
+    top_width_px = np.linalg.norm(top_line[1] - top_line[0])
+    bottom_width_px = np.linalg.norm(bottom_line[1] - bottom_line[0])
+    left_depth_px = np.linalg.norm(bottom_line[0] - top_line[0])
+    right_depth_px = np.linalg.norm(bottom_line[1] - top_line[1])
+
+    top_scale = top_width / top_width_px
+    bottom_scale = bottom_width / bottom_width_px
+    left_scale = left_depth / left_depth_px
+    right_scale = right_depth / right_depth_px
+
+    def distance_per_pixel(x, y):
+        """
+        Calculate the real-world distance per pixel at a given (x, y) coordinate.
+
+        :param x: X-coordinate in the image
+        :param y: Y-coordinate in the image
+        :return: Real-world distance per pixel at the given (x, y) coordinate
+        """
+        # Normalize x and y within the zone
+        x_norm = (x - top_line[0][0]) / (top_line[1][0] - top_line[0][0])
+        y_norm = (y - top_line[0][1]) / (bottom_line[0][1] - top_line[0][1])
+
+        # Interpolate scales horizontally and vertically
+        top_to_bottom_scale = top_scale + (bottom_scale - top_scale) * y_norm
+        left_to_right_scale = left_scale + (right_scale - left_scale) * x_norm
+
+        # Combine horizontal and vertical scales
+        return (top_to_bottom_scale + left_to_right_scale) / 2
+
+    return distance_per_pixel
+
+
+def calculate_real_world_speed(
+    zone_contour,
+    distances,
+    velocity_pixels,
+    position,
+    camera_fps,
+):
+    """
+    Calculate the real-world speed of a tracked object, accounting for perspective,
+    directly from the zone string.
+
+    :param zone_contour: Array of absolute zone points
+    :param distances: Comma separated distances of each side, ordered by top, bottom, left, right
+    :param velocity_pixels: List of tuples representing velocity in pixels/frame
+    :param position: Current position of the object (x, y) in pixels
+    :param camera_width: Width of the camera frame in pixels
+    :param camera_height: Height of the camera frame in pixels
+    :return: speed in the specified unit system (m/s for metric, ft/s for imperial) and velocity direction
+    """
+    ground_plane = create_ground_plane(zone_contour, distances)
+
+    if not isinstance(velocity_pixels, np.ndarray):
+        velocity_pixels = np.array(velocity_pixels)
+
+    avg_velocity_pixels = velocity_pixels.mean(axis=0)
+
+    # get the real-world distance per pixel at the object's current position and calculate real speed
+    scale = ground_plane(position[0], position[1])
+    speed_real = avg_velocity_pixels * scale * camera_fps
+
+    # euclidean speed in real-world units/second
+    speed_magnitude = np.linalg.norm(speed_real)
+
+    # movement direction
+    dx, dy = avg_velocity_pixels
+    angle = math.degrees(math.atan2(dy, dx))
+    if angle < 0:
+        angle += 360
+
+    if unit_system == "metric":
+        if magnitude == "kmh":
+            # Convert m/s to km/h
+            speed_magnitude *= 3.6
+    elif unit_system == "imperial":
+        if magnitude == "mph":
+            # Convert ft/s to mph
+            speed_magnitude *= 0.681818
+
+    return speed_magnitude, angle