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remove line sorting

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This commit is contained in:
Josh Hawkins 2024-12-08 12:01:58 -06:00
parent 4d5e02079f
commit f2943834fc
1 changed files with 21 additions and 30 deletions
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51
frigate/util/velocity.py
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@ -8,35 +8,27 @@ 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.
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
:param zone_points: Array of zone corner points in pixel coordinates in circular order
[[x1, y1], [x2, y2], [x3, y3], [x4, y4]]
:param distances: Real-world dimensions ordered by top, bottom left, right
:param distances: Real-world dimensions ordered by A, B, C, D
: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])]
A, B, C, D = zone_points
# 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])
AB_px = np.linalg.norm(np.array(B) - np.array(A))
BC_px = np.linalg.norm(np.array(C) - np.array(B))
CD_px = np.linalg.norm(np.array(D) - np.array(C))
DA_px = np.linalg.norm(np.array(A) - np.array(D))
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
AB, BC, CD, DA = map(float, distances)
AB_scale = AB / AB_px
BC_scale = BC / BC_px
CD_scale = CD / CD_px
DA_scale = DA / DA_px
def distance_per_pixel(x, y):
"""
@ -47,15 +39,15 @@ def create_ground_plane(zone_points, distances):
: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])
x_norm = (x - A[0]) / (B[0] - A[0])
y_norm = (y - A[1]) / (D[1] - A[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
vertical_scale = AB_scale + (CD_scale - AB_scale) * y_norm
horizontal_scale = DA_scale + (BC_scale - DA_scale) * x_norm
# Combine horizontal and vertical scales
return (top_to_bottom_scale + left_to_right_scale) / 2
return (vertical_scale + horizontal_scale) / 2
return distance_per_pixel
@ -72,11 +64,10 @@ def calculate_real_world_speed(
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 distances: Comma separated distances of each side, ordered by A, B, C, D
: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
:param camera_fps: Frames per second of the camera
: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)