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update zoom conditions
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Josh Hawkins
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7c7615b291
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@ -141,7 +141,7 @@ In security and surveillance, it's common to use "spotter" cameras in combinatio
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### The autotracker loses track of my object. Why?
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There are many reasons this could be the case. If you are using experimental zooming, your `zoom_factor` value might be too high. Camera motion might be causing Frigate to lose track of the object. The object might be traveling too quickly. The scene might be too dark, motion settings are not sensitive enough or are too sensitive, or is less than optimal for Frigate to maintain tracking.
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There are many reasons this could be the case. If you are using experimental zooming, your `zoom_factor` value might be too high, the object might be traveling too quickly, the scene might be too dark, there are not enough details in the scene (for example, a PTZ looking down on a driveway or other monotone background without any hard lines), or the scene is otherwise less than optimal for Frigate to maintain tracking.
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Watching Frigate's debug view can help to determine a possible cause. The autotracked object will have a thicker colored box around it.
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@ -191,6 +191,7 @@ class PtzAutoTracker:
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self.intercept: dict[str, object] = {}
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self.move_coefficients: dict[str, object] = {}
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self.zoom_factor: dict[str, object] = {}
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self.original_target_box: dict[str, object] = {}
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self.previous_target_box: dict[str, object] = {}
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# if cam is set to autotrack, onvif should be set up
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@ -216,7 +217,7 @@ class PtzAutoTracker:
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self.move_metrics[camera] = []
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self.intercept[camera] = None
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self.move_coefficients[camera] = []
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self.previous_target_box[camera] = 0.5
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self.previous_target_box[camera] = 1
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self.move_queues[camera] = queue.Queue()
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self.move_queue_locks[camera] = threading.Lock()
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@ -424,15 +425,17 @@ class PtzAutoTracker:
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continue
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else:
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if zoom != 0:
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self.previous_target_box[camera] = self.tracked_object[
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camera
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].obj_data["area"] / (camera_width * camera_height)
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if (
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self.config.cameras[camera].onvif.autotracking.zooming
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== ZoomingModeEnum.relative
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# this enables us to absolutely zoom if we lost an object
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and self.tracked_object[camera] is not None
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):
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self.previous_target_box[camera] = self.tracked_object[
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camera
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].obj_data["area"] / (camera_width * camera_height)
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self.onvif._move_relative(camera, pan, tilt, zoom, 1)
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else:
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@ -447,9 +450,6 @@ class PtzAutoTracker:
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zoom > 0
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and self.ptz_metrics[camera]["ptz_zoom_level"].value != zoom
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):
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self.previous_target_box[camera] = self.tracked_object[
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camera
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].obj_data["area"] / (camera_width * camera_height)
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self.onvif._zoom_absolute(camera, zoom, 1)
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# Wait until the camera finishes moving
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@ -598,6 +598,13 @@ class PtzAutoTracker:
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camera_height = camera_config.frame_shape[0]
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camera_fps = camera_config.detect.fps
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# save target box area of initial zoom to be a limiter for the session
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if (
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self.original_target_box[camera] == 1
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and self.previous_target_box[camera] != 1
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):
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self.original_target_box[camera] = self.previous_target_box[camera]
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average_velocity, distance = self._get_valid_velocity(camera, obj)
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bb_left, bb_top, bb_right, bb_bottom = box
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@ -608,12 +615,8 @@ class PtzAutoTracker:
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# calculate a velocity threshold based on movement coefficients if available
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if camera_config.onvif.autotracking.movement_weights:
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predicted_movement_time = self._predict_movement_time(camera, 1, 1)
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velocity_threshold_x = (
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camera_width / predicted_movement_time / camera_fps * 0.7
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)
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velocity_threshold_y = (
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camera_height / predicted_movement_time / camera_fps * 0.7
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)
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velocity_threshold_x = camera_width / predicted_movement_time / camera_fps
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velocity_threshold_y = camera_height / predicted_movement_time / camera_fps
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else:
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# use a generic velocity threshold
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velocity_threshold_x = camera_width * 0.02
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@ -629,7 +632,7 @@ class PtzAutoTracker:
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# make sure object is centered in the frame
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below_distance_threshold = self._below_distance_threshold(camera, obj)
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# ensure object isn't too big in frame
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# ensure object isn't taking up too much of the frame
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below_dimension_threshold = (bb_right - bb_left) / camera_width < 0.8 and (
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bb_bottom - bb_top
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) / camera_height < 0.8
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@ -645,21 +648,15 @@ class PtzAutoTracker:
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target_box = obj.obj_data["area"] / (camera_width * camera_height)
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below_area_threshold = target_box < 0.05
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below_area_threshold = target_box < self.original_target_box[camera]
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# introduce some hysteresis to prevent a yo-yo zooming effect
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if camera_config.onvif.autotracking.zooming == ZoomingModeEnum.absolute:
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zoom_out_hysteresis = target_box > (
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self.previous_target_box[camera] * AUTOTRACKING_ZOOM_OUT_HYSTERESIS
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)
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zoom_in_hysteresis = target_box < (
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self.previous_target_box[camera] * AUTOTRACKING_ZOOM_IN_HYSTERESIS
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)
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# relative target boxes deadzone is much smaller
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if camera_config.onvif.autotracking.zooming == ZoomingModeEnum.relative:
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zoom_out_hysteresis = target_box > (self.previous_target_box[camera] * 1.1)
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zoom_in_hysteresis = target_box < (self.previous_target_box[camera] * 0.9)
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zoom_out_hysteresis = target_box > (
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self.previous_target_box[camera] * AUTOTRACKING_ZOOM_OUT_HYSTERESIS
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)
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zoom_in_hysteresis = target_box < (
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self.previous_target_box[camera] * AUTOTRACKING_ZOOM_IN_HYSTERESIS
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)
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at_max_zoom = self.ptz_metrics[camera]["ptz_zoom_level"].value == 1
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at_min_zoom = self.ptz_metrics[camera]["ptz_zoom_level"].value == 0
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@ -682,7 +679,7 @@ class PtzAutoTracker:
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f"{camera}: Zoom test: below distance threshold: {(below_distance_threshold)}"
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)
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logger.debug(
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f"{camera}: Zoom test: below area threshold: {(below_area_threshold)} target box: {target_box}"
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f"{camera}: Zoom test: below area threshold: {(below_area_threshold)} original: {self.original_target_box[camera]} target box: {target_box}"
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)
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logger.debug(
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f"{camera}: Zoom test: below dimension threshold: {below_dimension_threshold} width: {(bb_right - bb_left) / camera_width}, height: { (bb_bottom - bb_top) / camera_height}"
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@ -703,30 +700,28 @@ class PtzAutoTracker:
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# object area could be larger
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# object is away from the edge of the frame
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# object is not moving too quickly
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# object is centered or small in the frame
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# object is small in the frame
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# object area is below initial area
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# camera is not fully zoomed in
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if (
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zoom_in_hysteresis
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and away_from_edge
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and below_velocity_threshold
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and below_distance_threshold
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and below_dimension_threshold
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and below_area_threshold
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and not at_max_zoom
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):
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return True
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# Zoom out conditions (or)
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# object area got too large, is touching an edge, and centered
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# object area got too large and has at least one dimension that is too large
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# object is touching an edge and either centered or has too large of an area
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# object area got too large
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# object area has at least one dimension that is too large
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# object is touching an edge and either centered
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# object is moving too quickly
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if (
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(zoom_out_hysteresis and not away_from_edge and below_distance_threshold)
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or (zoom_out_hysteresis and not below_dimension_threshold)
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or (
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not away_from_edge
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and (below_distance_threshold or not below_area_threshold)
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)
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zoom_out_hysteresis
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or not below_dimension_threshold
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or (not away_from_edge and below_distance_threshold)
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or not below_velocity_threshold
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) and not at_min_zoom:
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return False
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@ -792,9 +787,8 @@ 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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if camera_config.onvif.autotracking.zooming == ZoomingModeEnum.relative:
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target_box = obj.obj_data["area"] / (camera_width * camera_height)
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self.previous_target_box[camera] = target_box ** self.zoom_factor[camera]
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target_box = obj.obj_data["area"] / (camera_width * camera_height)
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self.previous_target_box[camera] = target_box ** self.zoom_factor[camera]
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zoom = self._get_zoom_amount(camera, obj, obj.obj_data["box"])
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@ -812,6 +806,8 @@ class PtzAutoTracker:
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result = None
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current_zoom_level = self.ptz_metrics[camera]["ptz_zoom_level"].value
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target_box = obj.obj_data["area"] / (camera_width * camera_height)
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if self.tracked_object_previous[camera] is None:
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self.original_target_box[camera] = 1
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# absolute zooming separately from pan/tilt
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if camera_config.onvif.autotracking.zooming == ZoomingModeEnum.absolute:
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@ -853,7 +849,7 @@ class PtzAutoTracker:
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logger.debug(f"{camera}: Zoom calculation: {zoom}")
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if not result:
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# zoom out
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zoom = -(1 - abs(zoom)) if zoom > 0 else zoom
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zoom = -(1 - abs(zoom)) if zoom > 0 else -(zoom + 1)
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logger.debug(f"{camera}: Zooming: {result} Zoom amount: {zoom}")
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@ -997,7 +993,7 @@ class PtzAutoTracker:
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# clear tracked object and reset zoom level
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self.tracked_object[camera] = None
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self.tracked_object_previous[camera] = None
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self.previous_target_box[camera] = 0.5
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self.previous_target_box[camera] = 1
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# empty move queue
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while not self.move_queues[camera].empty():
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