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Autotracking: reset motion estimator (#7129)

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* reset motion estimator after returning to preset

* small tweaks and a bugfix
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Josh Hawkins 2023-07-13 05:32:51 -05:00 committed by GitHub
parent 7a2d09dc35
commit c9254b256a
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4 changed files with 96 additions and 48 deletions
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1
frigate/app.py
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@ -172,6 +172,7 @@ class FrigateApp:
self.config.cameras[camera_name].onvif.autotracking.enabled,
),
"ptz_stopped": mp.Event(),
"ptz_reset": mp.Event(),
"ptz_start_time": mp.Value("d", 0.0), # type: ignore[typeddict-item]
# issue https://github.com/python/typeshed/issues/8799
# from mypy 0.981 onwards

110
frigate/ptz/autotrack.py
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@ -36,22 +36,33 @@ def ptz_moving_at_frame_time(frame_time, ptz_start_time, ptz_stop_time):
class PtzMotionEstimator:
def __init__(self, config: CameraConfig, ptz_metrics: PTZMetricsTypes) -> None:
def __init__(
self, config: CameraConfig, ptz_metrics: dict[str, PTZMetricsTypes]
) -> None:
self.frame_manager = SharedMemoryFrameManager()
self.norfair_motion_estimator = None
self.camera_config = config
self.coord_transformations = None
self.ptz_metrics = ptz_metrics
self.ptz_start_time = self.ptz_metrics["ptz_start_time"]
self.ptz_stop_time = self.ptz_metrics["ptz_stop_time"]
self.ptz_metrics["ptz_reset"].set()
logger.debug(f"Motion estimator init for cam: {config.name}")
def motion_estimator(self, detections, frame_time, camera_name):
# If we've just started up or returned to our preset, reset motion estimator for new tracking session
if self.ptz_metrics["ptz_reset"].is_set():
self.ptz_metrics["ptz_reset"].clear()
logger.debug("Motion estimator reset")
# homography is nice (zooming) but slow, translation is pan/tilt only but fast.
self.norfair_motion_estimator = MotionEstimator(
transformations_getter=TranslationTransformationGetter(),
min_distance=30,
max_points=900,
)
self.camera_config = config
self.coord_transformations = None
self.ptz_metrics = ptz_metrics
self.ptz_start_time = self.ptz_metrics["ptz_start_time"]
self.ptz_stop_time = self.ptz_metrics["ptz_stop_time"]
logger.debug(f"Motion estimator init for cam: {config.name}")
def motion_estimator(self, detections, frame_time, camera_name):
if ptz_moving_at_frame_time(
frame_time, self.ptz_start_time.value, self.ptz_stop_time.value
):
@ -133,6 +144,7 @@ class PtzAutoTracker:
self.ptz_metrics = ptz_metrics
self.tracked_object: dict[str, object] = {}
self.tracked_object_previous: dict[str, object] = {}
self.previous_frame_time = None
self.object_types = {}
self.required_zones = {}
self.move_queues = {}
@ -193,34 +205,67 @@ class PtzAutoTracker:
tilt = 0
while not self.move_queues[camera].empty():
queued_pan, queued_tilt = self.move_queues[camera].queue[0]
frame_time, queued_pan, queued_tilt = self.move_queues[
camera
].queue[0]
# if we're receiving move requests during a PTZ move, ignore them
if ptz_moving_at_frame_time(
frame_time,
self.ptz_metrics[camera]["ptz_start_time"].value,
self.ptz_metrics[camera]["ptz_stop_time"].value,
):
self.move_queues[camera].get()
# instead of dequeueing this might be a good place to preemptively move based
# on an estimate - for fast moving objects, etc.
logger.debug(
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}"
)
else:
# TODO: this may need rethinking
logger.debug(
f"Move queue: PTZ NOT moving, frame time: {frame_time}, queued pan: {queued_pan}, queued tilt: {queued_tilt}, final pan: {pan}, final tilt: {tilt}"
)
_, queued_pan, queued_tilt = self.move_queues[camera].get()
# If exceeding the movement range, keep it in the queue and move now
if abs(pan + queued_pan) > 1.0 or abs(tilt + queued_tilt) > 1.0:
if (
abs(pan + queued_pan) > 1.0
or abs(tilt + queued_tilt) > 1.0
):
logger.debug("Pan or tilt value exceeds 1.0")
break
queued_pan, queued_tilt = self.move_queues[camera].get()
pan += queued_pan
tilt += queued_tilt
else:
move_data = self.move_queues[camera].get()
pan, tilt = move_data
frame_time, pan, tilt = move_data
# on some cameras with cheaper motors it seems like small values can cause jerky movement
# TODO: double check, might not need this
if abs(pan) > 0.02 or abs(tilt) > 0.02:
self.onvif._move_relative(camera, pan, tilt, 1)
else:
logger.debug(f"Not moving, pan and tilt too small: {pan}, {tilt}")
# Wait until the camera finishes moving
while not self.ptz_metrics[camera]["ptz_stopped"].is_set():
# check if ptz is moving
self.onvif.get_camera_status(camera)
time.sleep(1 / (self.config.cameras[camera].detect.fps / 2))
except queue.Empty:
time.sleep(0.1)
def _enqueue_move(self, camera, pan, tilt):
move_data = (pan, tilt)
def _enqueue_move(self, camera, frame_time, pan, tilt):
move_data = (frame_time, pan, tilt)
if (
frame_time > self.ptz_metrics[camera]["ptz_start_time"].value
and frame_time > self.ptz_metrics[camera]["ptz_stop_time"].value
):
logger.debug(f"enqueue pan: {pan}, enqueue tilt: {tilt}")
self.move_queues[camera].put(move_data)
@ -231,17 +276,20 @@ class PtzAutoTracker:
camera_width = camera_config.frame_shape[1]
camera_height = camera_config.frame_shape[0]
# Normalize coordinates. top right of the fov is (1,1).
pan = 0.5 - (obj.obj_data["centroid"][0] / camera_width)
tilt = 0.5 - (obj.obj_data["centroid"][1] / camera_height)
# Normalize coordinates. top right of the fov is (1,1), center is (0,0), bottom left is (-1, -1).
pan = ((obj.obj_data["centroid"][0] / camera_width) - 0.5) * 2
tilt = (0.5 - (obj.obj_data["centroid"][1] / camera_height)) * 2
# ideas: check object velocity for camera speed?
self._enqueue_move(camera, -pan, tilt)
self._enqueue_move(camera, obj.obj_data["frame_time"], pan, tilt)
def autotrack_object(self, camera, obj):
camera_config = self.config.cameras[camera]
if camera_config.onvif.autotracking.enabled:
if not self.autotracker_init[camera]:
self._autotracker_setup(self.config.cameras[camera], camera)
# either this is a brand new object that's on our camera, has our label, entered the zone, is not a false positive,
# and is not initially motionless - or one we're already tracking, which assumes all those things are already true
if (
@ -260,10 +308,7 @@ class PtzAutoTracker:
)
self.tracked_object[camera] = obj
self.tracked_object_previous[camera] = copy.deepcopy(obj)
# only enqueue another move if the camera isn't moving
if self.ptz_metrics[camera]["ptz_stopped"].is_set():
self.ptz_metrics[camera]["ptz_stopped"].clear()
logger.debug("Autotrack: New object, moving ptz")
self.previous_frame_time = obj.obj_data["frame_time"]
self._autotrack_move_ptz(camera, obj)
return
@ -273,9 +318,9 @@ class PtzAutoTracker:
self.tracked_object[camera] is not None
and self.tracked_object_previous[camera] is not None
and obj.obj_data["id"] == self.tracked_object[camera].obj_data["id"]
and obj.obj_data["frame_time"]
!= self.tracked_object_previous[camera].obj_data["frame_time"]
and obj.obj_data["frame_time"] != self.previous_frame_time
):
self.previous_frame_time = obj.obj_data["frame_time"]
# Don't move ptz 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.
@ -309,9 +354,7 @@ class PtzAutoTracker:
f"Distance: {distance}, threshold: {distance_threshold}, iou: {iou}"
)
if (distance < distance_threshold or iou > 0.5) and self.ptz_metrics[
camera
]["ptz_stopped"].is_set():
if distance < distance_threshold and iou > 0.2:
logger.debug(
f"Autotrack: Existing object (do NOT move ptz): {obj.obj_data['id']} {obj.obj_data['box']} {obj.obj_data['frame_time']}"
)
@ -321,11 +364,6 @@ class PtzAutoTracker:
f"Autotrack: Existing object (need to move ptz): {obj.obj_data['id']} {obj.obj_data['box']} {obj.obj_data['frame_time']}"
)
self.tracked_object_previous[camera] = copy.deepcopy(obj)
# only enqueue another move if the camera isn't moving
if self.ptz_metrics[camera]["ptz_stopped"].is_set():
self.ptz_metrics[camera]["ptz_stopped"].clear()
logger.debug("Autotrack: Existing object, moving ptz")
self._autotrack_move_ptz(camera, obj)
return
@ -342,6 +380,7 @@ class PtzAutoTracker:
and obj.obj_data["motionless_count"] == 0
and self.tracked_object_previous[camera] is not None
):
self.previous_frame_time = obj.obj_data["frame_time"]
if (
intersection_over_union(
self.tracked_object_previous[camera].obj_data["region"],
@ -354,10 +393,6 @@ class PtzAutoTracker:
)
self.tracked_object[camera] = obj
self.tracked_object_previous[camera] = copy.deepcopy(obj)
# only enqueue another move if the camera isn't moving
if self.ptz_metrics[camera]["ptz_stopped"].is_set():
self.ptz_metrics[camera]["ptz_stopped"].clear()
logger.debug("Autotrack: Reacquired object, moving ptz")
self._autotrack_move_ptz(camera, obj)
return
@ -404,4 +439,5 @@ class PtzAutoTracker:
camera,
autotracker_config.return_preset.lower(),
)
self.ptz_metrics[camera]["ptz_reset"].set()
self.tracked_object_previous[camera] = None

12
frigate/track/norfair_tracker.py
View File

@ -67,7 +67,9 @@ class NorfairTracker(ObjectTracker):
self.max_disappeared = config.detect.max_disappeared
self.camera_config = config
self.detect_config = config.detect
self.ptz_metrics = ptz_metrics
self.ptz_autotracker_enabled = ptz_metrics["ptz_autotracker_enabled"]
self.ptz_motion_estimator = {}
self.camera_name = config.name
self.track_id_map = {}
# TODO: could also initialize a tracker per object class if there
@ -79,7 +81,9 @@ class NorfairTracker(ObjectTracker):
hit_counter_max=self.max_disappeared,
)
if self.ptz_autotracker_enabled.value:
self.ptz_motion_estimator = PtzMotionEstimator(config, ptz_metrics)
self.ptz_motion_estimator = PtzMotionEstimator(
self.camera_config, self.ptz_metrics
)
def register(self, track_id, obj):
rand_id = "".join(random.choices(string.ascii_lowercase + string.digits, k=6))
@ -244,6 +248,12 @@ class NorfairTracker(ObjectTracker):
coord_transformations = None
if self.ptz_autotracker_enabled.value:
# we must have been enabled by mqtt, so set up the estimator
if not self.ptz_motion_estimator:
self.ptz_motion_estimator = PtzMotionEstimator(
self.camera_config, self.ptz_metrics
)
coord_transformations = self.ptz_motion_estimator.motion_estimator(
detections, frame_time, self.camera_name
)

1
frigate/types.py
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@ -29,6 +29,7 @@ class CameraMetricsTypes(TypedDict):
class PTZMetricsTypes(TypedDict):
ptz_autotracker_enabled: Synchronized
ptz_stopped: Event
ptz_reset: Event
ptz_start_time: Synchronized
ptz_stop_time: Synchronized