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Basic PTZ object autotracking functionality (#6913)

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* Basic functionality

* Threaded motion estimator

* Revert "Threaded motion estimator"

This reverts commit 3171801607.

* Don't detect motion when ptz is moving

* fix motion logic

* fix mypy error

* Add threaded queue for movement for slower ptzs

* Move queues per camera

* Move autotracker start to app.py

* iou value for tracked object

* mqtt callback

* tracked object should be initially motionless

* only draw thicker box if autotracking is enabled

* Init if enabled when initially disabled in config

* Fix init

* Thread names

* Always use motion estimator

* docs

* clarify fov support

* remove size ratio

* use mp event instead of value for ptz status

* update autotrack at half fps

* fix merge conflict

* fix event type for mypy

* clean up

* Clean up

* remove unused code

* merge conflict fix

* docs: update link to object_detectors page

* Update docs/docs/configuration/autotracking.md

Co-authored-by: Nicolas Mowen <nickmowen213@gmail.com>

* clarify wording

* pass actual instances directly

* default return preset

* fix type

* Error message when onvif init fails

* disable autotracking if onvif init fails

* disable autotracking if onvif init fails

* ptz module

* verify required_zones in config

* update util after dev merge

---------

Co-authored-by: Nicolas Mowen <nickmowen213@gmail.com>
This commit is contained in:
Josh Hawkins
2023-07-08 07:04:47 -05:00
committed by GitHub
parent d6f82f9edc
commit 88fc0fac8f
15 changed files with 770 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files

49
frigate/object_processing.py
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@@ -22,6 +22,7 @@ from frigate.config import (
)
from frigate.const import CLIPS_DIR
from frigate.events.maintainer import EventTypeEnum
from frigate.ptz.autotrack import PtzAutoTrackerThread
from frigate.util.image import (
SharedMemoryFrameManager,
area,
@@ -143,6 +144,7 @@ class TrackedObject:
def update(self, current_frame_time, obj_data):
thumb_update = False
significant_change = False
autotracker_update = False
# if the object is not in the current frame, add a 0.0 to the score history
if obj_data["frame_time"] != current_frame_time:
self.score_history.append(0.0)
@@ -236,9 +238,15 @@ class TrackedObject:
if self.obj_data["frame_time"] - self.previous["frame_time"] > 60:
significant_change = True
# update autotrack at half fps
if self.obj_data["frame_time"] - self.previous["frame_time"] > (
1 / (self.camera_config.detect.fps / 2)
):
autotracker_update = True
self.obj_data.update(obj_data)
self.current_zones = current_zones
return (thumb_update, significant_change)
return (thumb_update, significant_change, autotracker_update)
def to_dict(self, include_thumbnail: bool = False):
(self.thumbnail_data["frame_time"] if self.thumbnail_data is not None else 0.0)
@@ -437,7 +445,11 @@ def zone_filtered(obj: TrackedObject, object_config):
# Maintains the state of a camera
class CameraState:
def __init__(
self, name, config: FrigateConfig, frame_manager: SharedMemoryFrameManager
self,
name,
config: FrigateConfig,
frame_manager: SharedMemoryFrameManager,
ptz_autotracker_thread: PtzAutoTrackerThread,
):
self.name = name
self.config = config
@@ -455,6 +467,7 @@ class CameraState:
self.regions = []
self.previous_frame_id = None
self.callbacks = defaultdict(list)
self.ptz_autotracker_thread = ptz_autotracker_thread
def get_current_frame(self, draw_options={}):
with self.current_frame_lock:
@@ -476,6 +489,21 @@ class CameraState:
thickness = 1
color = (255, 0, 0)
# draw thicker box around ptz autotracked object
if (
self.camera_config.onvif.autotracking.enabled
and self.ptz_autotracker_thread.ptz_autotracker.tracked_object[
self.name
]
is not None
and obj["id"]
== self.ptz_autotracker_thread.ptz_autotracker.tracked_object[
self.name
].obj_data["id"]
):
thickness = 5
color = self.config.model.colormap[obj["label"]]
# draw the bounding boxes on the frame
box = obj["box"]
draw_box_with_label(
@@ -589,10 +617,14 @@ class CameraState:
for id in updated_ids:
updated_obj = tracked_objects[id]
thumb_update, significant_update = updated_obj.update(
thumb_update, significant_update, autotracker_update = updated_obj.update(
frame_time, current_detections[id]
)
if autotracker_update or significant_update:
for c in self.callbacks["autotrack"]:
c(self.name, updated_obj, frame_time)
if thumb_update:
# ensure this frame is stored in the cache
if (
@@ -733,6 +765,7 @@ class TrackedObjectProcessor(threading.Thread):
event_processed_queue,
video_output_queue,
recordings_info_queue,
ptz_autotracker_thread,
stop_event,
):
threading.Thread.__init__(self)
@@ -748,6 +781,7 @@ class TrackedObjectProcessor(threading.Thread):
self.camera_states: dict[str, CameraState] = {}
self.frame_manager = SharedMemoryFrameManager()
self.last_motion_detected: dict[str, float] = {}
self.ptz_autotracker_thread = ptz_autotracker_thread
def start(camera, obj: TrackedObject, current_frame_time):
self.event_queue.put(
@@ -774,6 +808,9 @@ class TrackedObjectProcessor(threading.Thread):
)
)
def autotrack(camera, obj: TrackedObject, current_frame_time):
self.ptz_autotracker_thread.ptz_autotracker.autotrack_object(camera, obj)
def end(camera, obj: TrackedObject, current_frame_time):
# populate has_snapshot
obj.has_snapshot = self.should_save_snapshot(camera, obj)
@@ -822,6 +859,7 @@ class TrackedObjectProcessor(threading.Thread):
"type": "end",
}
self.dispatcher.publish("events", json.dumps(message), retain=False)
self.ptz_autotracker_thread.ptz_autotracker.end_object(camera, obj)
self.event_queue.put(
(
@@ -858,8 +896,11 @@ class TrackedObjectProcessor(threading.Thread):
self.dispatcher.publish(f"{camera}/{object_name}", status, retain=False)
for camera in self.config.cameras.keys():
camera_state = CameraState(camera, self.config, self.frame_manager)
camera_state = CameraState(
camera, self.config, self.frame_manager, self.ptz_autotracker_thread
)
camera_state.on("start", start)
camera_state.on("autotrack", autotrack)
camera_state.on("update", update)
camera_state.on("end", end)
camera_state.on("snapshot", snapshot)