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increase distance threshold for stationary object

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This commit is contained in:
Josh Hawkins 2023-10-03 09:54:10 -05:00
parent 2174e0ce0a
commit e3aeb2f01f
1 changed files with 33 additions and 7 deletions
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40
frigate/ptz/autotrack.py
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@ -495,13 +495,33 @@ class PtzAutoTracker:
# Returns true 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,
# multiplied by a scaling factor for object size.
# Distance is increased if object is not moving to prevent small ptz moves
# Adjusting this percentage slightly lower will effectively cause the camera to move
# more often to keep the object in the center. Raising the percentage will cause less
# movement and will be more flexible with objects not quite being centered.
# TODO: there's probably a better way to approach this
camera_config = self.config.cameras[camera]
distance = np.linalg.norm(
stationary = False
# Norfair gives us two points for the velocity of an object represented as x1, y1, x2, y2
x1, y1, x2, y2 = obj.obj_data["estimate_velocity"]
average_velocity = (
(x1 + x2) / 2,
(y1 + y2) / 2,
)
# get euclidean distance of the two points, sometimes the estimate is way off
velocity_distance = np.linalg.norm([x2 - x1, y2 - y1])
if (
velocity_distance <= 5
and abs(average_velocity[0]) <= 1
and abs(average_velocity[1]) <= 1
):
stationary = True
centroid_distance = np.linalg.norm(
[
obj.obj_data["centroid"][0] - camera_config.detect.width / 2,
obj.obj_data["centroid"][1] - camera_config.detect.height / 2,
@ -517,11 +537,15 @@ class PtzAutoTracker:
# larger objects should lower the threshold, smaller objects should raise it
scaling_factor = 1 - (max_obj / max_frame)
# increase distance if object is stationary
if stationary:
scaling_factor *= 2
distance_threshold = 0.15 * (max_frame) * scaling_factor
logger.debug(f"Distance: {distance}, threshold: {distance_threshold}")
logger.debug(f"Distance: {centroid_distance}, threshold: {distance_threshold}")
return distance < distance_threshold
return centroid_distance < distance_threshold
def _should_zoom_in(self, camera, obj, box):
camera_config = self.config.cameras[camera]
@ -733,17 +757,19 @@ class PtzAutoTracker:
zoom = 0
else:
zoom_level = obj.obj_data["area"] / (camera_width * camera_height)
zoom = min(1, zoom_level * (1 / self.zoom_factor[camera]) ** 1.2)
# test if we need to zoom out
if not self._should_zoom_in(
if self._should_zoom_in(
camera,
obj,
predicted_box
if camera_config.onvif.autotracking.movement_weights
else obj.obj_data["box"],
):
zoom = -zoom
# zoom in
zoom = min(1, zoom_level * (1 / self.zoom_factor[camera]) ** 1.2)
else:
# zoom out
zoom = -(1 - zoom)
logger.debug(f"Zoom amount: {zoom}")