"""Automatically pan, tilt, and zoom on detected objects via onvif.""" import copy import logging import math import queue import threading import time from functools import partial from multiprocessing.synchronize import Event as MpEvent import cv2 import numpy as np from norfair.camera_motion import MotionEstimator, TranslationTransformationGetter from frigate.config import CameraConfig, FrigateConfig from frigate.ptz.onvif import OnvifController from frigate.types import PTZMetricsTypes from frigate.util.image import SharedMemoryFrameManager, intersection_over_union logger = logging.getLogger(__name__) def ptz_moving_at_frame_time(frame_time, ptz_start_time, ptz_stop_time): # Determine if the PTZ was in motion at the set frame time # for non ptz/autotracking cameras, this will always return False # ptz_start_time is initialized to 0 on startup and only changes # when autotracking movements are made # the offset "primes" the motion estimator with a few frames before movement offset = 0.5 return (ptz_start_time != 0.0 and frame_time >= ptz_start_time - offset) and ( ptz_stop_time == 0.0 or (ptz_start_time - offset <= frame_time <= ptz_stop_time) ) class PtzMotionEstimator: 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.coord_transformations = None if ptz_moving_at_frame_time( frame_time, self.ptz_start_time.value, self.ptz_stop_time.value ): logger.debug( f"Motion estimator running for {camera_name} - frame time: {frame_time}, {self.ptz_start_time.value}, {self.ptz_stop_time.value}" ) frame_id = f"{camera_name}{frame_time}" yuv_frame = self.frame_manager.get( frame_id, self.camera_config.frame_shape_yuv ) frame = cv2.cvtColor(yuv_frame, cv2.COLOR_YUV2GRAY_I420) # mask out detections for better motion estimation mask = np.ones(frame.shape[:2], frame.dtype) detection_boxes = [x[2] for x in detections] for detection in detection_boxes: x1, y1, x2, y2 = detection mask[y1:y2, x1:x2] = 0 # merge camera config motion mask with detections. Norfair function needs 0,1 mask mask = np.bitwise_and(mask, self.camera_config.motion.mask).clip(max=1) # Norfair estimator function needs color so it can convert it right back to gray frame = cv2.cvtColor(frame, cv2.COLOR_GRAY2BGRA) self.coord_transformations = self.norfair_motion_estimator.update( frame, mask ) self.frame_manager.close(frame_id) logger.debug( f"Motion estimator transformation: {self.coord_transformations.rel_to_abs((0,0))}" ) return self.coord_transformations class PtzAutoTrackerThread(threading.Thread): def __init__( self, config: FrigateConfig, onvif: OnvifController, ptz_metrics: dict[str, PTZMetricsTypes], stop_event: MpEvent, ) -> None: threading.Thread.__init__(self) self.name = "ptz_autotracker" self.ptz_autotracker = PtzAutoTracker(config, onvif, ptz_metrics) self.stop_event = stop_event self.config = config def run(self): while not self.stop_event.is_set(): for camera_name, cam in self.config.cameras.items(): if cam.onvif.autotracking.enabled: self.ptz_autotracker.camera_maintenance(camera_name) else: # disabled dynamically by mqtt if self.ptz_autotracker.tracked_object.get(camera_name): self.ptz_autotracker.tracked_object[camera_name] = None self.ptz_autotracker.tracked_object_previous[camera_name] = None time.sleep(1) logger.info("Exiting autotracker...") class PtzAutoTracker: def __init__( self, config: FrigateConfig, onvif: OnvifController, ptz_metrics: PTZMetricsTypes, ) -> None: self.config = config self.onvif = onvif 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 = {} self.move_threads = {} self.autotracker_init = {} # if cam is set to autotrack, onvif should be set up for camera_name, cam in self.config.cameras.items(): self.autotracker_init[camera_name] = False if cam.onvif.autotracking.enabled: self._autotracker_setup(cam, camera_name) def _autotracker_setup(self, cam, camera_name): logger.debug(f"Autotracker init for cam: {camera_name}") self.object_types[camera_name] = cam.onvif.autotracking.track self.required_zones[camera_name] = cam.onvif.autotracking.required_zones self.tracked_object[camera_name] = None self.tracked_object_previous[camera_name] = None self.move_queues[camera_name] = queue.Queue() if not self.onvif.cams[camera_name]["init"]: if not self.onvif._init_onvif(camera_name): logger.warning(f"Unable to initialize onvif for {camera_name}") cam.onvif.autotracking.enabled = False self.ptz_metrics[camera_name]["ptz_autotracker_enabled"].value = False return if not self.onvif.cams[camera_name]["relative_fov_supported"]: cam.onvif.autotracking.enabled = False self.ptz_metrics[camera_name]["ptz_autotracker_enabled"].value = False logger.warning( f"Disabling autotracking for {camera_name}: FOV relative movement not supported" ) return # movement thread per camera if not self.move_threads or not self.move_threads[camera_name]: self.move_threads[camera_name] = threading.Thread( name=f"move_thread_{camera_name}", target=partial(self._process_move_queue, camera_name), ) self.move_threads[camera_name].daemon = True self.move_threads[camera_name].start() self.autotracker_init[camera_name] = True def _process_move_queue(self, camera): while True: try: if self.move_queues[camera].qsize() > 1: # Accumulate values since last moved pan = 0 tilt = 0 while not self.move_queues[camera].empty(): 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 ): logger.debug("Pan or tilt value exceeds 1.0") break pan += queued_pan tilt += queued_tilt else: move_data = self.move_queues[camera].get() 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) except queue.Empty: time.sleep(0.1) 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) def _autotrack_move_ptz(self, camera, obj): camera_config = self.config.cameras[camera] # # frame width and height camera_width = camera_config.frame_shape[1] camera_height = camera_config.frame_shape[0] # 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, 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 ( # new object self.tracked_object[camera] is None and obj.camera == camera and obj.obj_data["label"] in self.object_types[camera] and set(obj.entered_zones) & set(self.required_zones[camera]) and not obj.previous["false_positive"] and not obj.false_positive and self.tracked_object_previous[camera] is None and obj.obj_data["motionless_count"] == 0 ): logger.debug( f"Autotrack: New object: {obj.obj_data['id']} {obj.obj_data['box']} {obj.obj_data['frame_time']}" ) self.tracked_object[camera] = obj self.tracked_object_previous[camera] = copy.deepcopy(obj) self.previous_frame_time = obj.obj_data["frame_time"] self._autotrack_move_ptz(camera, obj) return if ( # already tracking an object 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.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. # 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 distance = math.sqrt( (obj.obj_data["centroid"][0] - camera_config.detect.width / 2) ** 2 + (obj.obj_data["centroid"][1] - camera_config.detect.height / 2) ** 2 ) obj_width = obj.obj_data["box"][2] - obj.obj_data["box"][0] obj_height = obj.obj_data["box"][3] - obj.obj_data["box"][1] max_obj = max(obj_width, obj_height) max_frame = max(camera_config.detect.width, camera_config.detect.height) # larger objects should lower the threshold, smaller objects should raise it scaling_factor = 1 - (max_obj / max_frame) distance_threshold = 0.15 * (max_frame) * scaling_factor iou = intersection_over_union( self.tracked_object_previous[camera].obj_data["box"], obj.obj_data["box"], ) logger.debug( f"Distance: {distance}, threshold: {distance_threshold}, iou: {iou}" ) 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']}" ) return logger.debug( 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) self._autotrack_move_ptz(camera, obj) return if ( # The tracker lost an object, so let's check the previous object's region and compare it with the incoming object # If it's within bounds, start tracking that object. # Should we check region (maybe too broad) or expand the previous object's box a bit and check that? self.tracked_object[camera] is None and obj.camera == camera and obj.obj_data["label"] in self.object_types[camera] and not obj.previous["false_positive"] and not obj.false_positive 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"], obj.obj_data["box"], ) < 0.2 ): logger.debug( f"Autotrack: Reacquired object: {obj.obj_data['id']} {obj.obj_data['box']} {obj.obj_data['frame_time']}" ) self.tracked_object[camera] = obj self.tracked_object_previous[camera] = copy.deepcopy(obj) self._autotrack_move_ptz(camera, obj) return def end_object(self, camera, obj): if self.config.cameras[camera].onvif.autotracking.enabled: if ( self.tracked_object[camera] is not None and obj.obj_data["id"] == self.tracked_object[camera].obj_data["id"] ): logger.debug( f"Autotrack: End object: {obj.obj_data['id']} {obj.obj_data['box']}" ) self.tracked_object[camera] = None def camera_maintenance(self, camera): # calls get_camera_status to check/update ptz movement # returns camera to preset after timeout when tracking is over autotracker_config = self.config.cameras[camera].onvif.autotracking if not self.autotracker_init[camera]: self._autotracker_setup(self.config.cameras[camera], camera) # regularly update camera status if not self.ptz_metrics[camera]["ptz_stopped"].is_set(): self.onvif.get_camera_status(camera) # return to preset if tracking is over if ( self.tracked_object[camera] is None and self.tracked_object_previous[camera] is not None and ( # might want to use a different timestamp here? time.time() - self.tracked_object_previous[camera].obj_data["frame_time"] > autotracker_config.timeout ) and autotracker_config.return_preset ): self.ptz_metrics[camera]["ptz_stopped"].wait() logger.debug( f"Autotrack: Time is {time.time()}, returning to preset: {autotracker_config.return_preset}" ) self.onvif._move_to_preset( camera, autotracker_config.return_preset.lower(), ) self.ptz_metrics[camera]["ptz_reset"].set() self.tracked_object_previous[camera] = None