@camera.ui/server 2.0.11 → 2.0.13

package/dist/server/src/camera/decoder/ptz-autotracker.js

@@ -1,342 +0,0 @@
-import { PTZCapability, PTZProperty } from '@camera.ui/sdk';
-import { NamespaceManager } from '../../rpc/namespaces.js';
-const MIN_SPEED = 0.4;
-const MAX_SPEED = 1.0;
-const MIN_PULSE_MS = 250;
-const MAX_PULSE_MS = 1000;
-// Rate-limit motor commands; also protects PTZ firmware.
-const MIN_COMMAND_INTERVAL_MS = 200;
-// Kalman speed (normalized units/frame) below which the target counts as stationary.
-const STATIONARY_SPEED_THRESHOLD = 0.006;
-// Clamp the lead so a velocity spike can't fling the aim across the frame.
-const MAX_LEAD_DISPLACEMENT = 0.3;
-// Keep motion suppressed this long after a stop while decel + stream buffer settle.
-const POST_STOP_MOTION_SETTLE_MS = 800;
-// Fallbacks for the UI-configurable knobs when a stored config predates them.
-const DEFAULT_SPEED_GAIN = 2.0;
-const DEFAULT_LEAD_FRAMES = 3;
-const DEFAULT_PAN_RATE = 0.85;
-function clamp(value, min, max) {
-    return Math.min(max, Math.max(min, value));
-}
-export class PtzAutotracker {
-    deps;
-    sensorInfo;
-    watcherUnsubscribe;
-    settings;
-    isPtzMoving = false;
-    state = 'idle';
-    activeTrackId;
-    lostSinceTs = 0;
-    lastCommandAt = 0;
-    stopTimer;
-    lastStopIssuedAt = 0;
-    currentPose = { pan: 0, tilt: 0 };
-    // Reference pose for consumePoseDelta()'s accumulated offset — Norfair needs
-    // one consistent reference across frames. Seeded lazily on the first real
-    // Position event; getValues() during bind() can race the plugin's first poll
-    // and yield a phantom (0,0).
-    referencePose;
-    constructor(deps) {
-        this.deps = deps;
-        this.settings = deps.settings;
-    }
-    updateSettings(settings) {
-        this.settings = settings;
-        if (!settings?.enabled)
-            this.reset();
-    }
-    get suppressionActive() {
-        if (this.isPtzMoving)
-            return true;
-        if (this.lastStopIssuedAt > 0 && Date.now() - this.lastStopIssuedAt < POST_STOP_MOTION_SETTLE_MS)
-            return true;
-        return false;
-    }
-    isBoundTo(sensorId) {
-        return this.sensorInfo?.sensorId === sensorId;
-    }
-    async bind(info) {
-        this.teardown();
-        this.sensorInfo = { ...info, capabilities: [...info.capabilities] };
-        // Warm-start currentPose only; referencePose stays lazy (see its field).
-        try {
-            const values = await this.getPtzRpc(info).getValues();
-            const initialPos = values[PTZProperty.Position];
-            if (initialPos) {
-                this.currentPose = { pan: initialPos.pan ?? 0, tilt: initialPos.tilt ?? 0 };
-            }
-        }
-        catch {
-            // Non-fatal: referencePose is lazy-seeded from the first Position event.
-        }
-        const subject = NamespaceManager.sensorEventNamespaces(this.deps.cameraId, info.sensorId).sensorSubject;
-        this.watcherUnsubscribe = await this.deps.proxy.subscribe(subject, (msg) => {
-            if (msg.type !== 'property:changed')
-                return;
-            if (msg.data.sensorId !== this.sensorInfo?.sensorId)
-                return;
-            if (msg.data.property === PTZProperty.Moving) {
-                this.handleMovementChange(msg.data.value);
-            }
-            else if (msg.data.property === PTZProperty.Position) {
-                this.handlePositionChange(msg.data.value);
-            }
-        });
-    }
-    unbind(sensorId) {
-        if (this.sensorInfo?.sensorId !== sensorId)
-            return;
-        this.teardown();
-    }
-    setCapabilities(sensorId, capabilities) {
-        if (this.sensorInfo?.sensorId !== sensorId)
-            return;
-        this.sensorInfo.capabilities = [...capabilities];
-    }
-    handleObjectDetections(detections) {
-        const settings = this.settings;
-        if (!settings?.enabled)
-            return;
-        const ptz = this.sensorInfo;
-        if (!ptz)
-            return;
-        const now = Date.now();
-        // Read-only while the motor moves (our command or the vendor app). The
-        // tracker still runs through the pan via camera-motion compensation; we
-        // just don't issue new commands mid-move.
-        if (this.isPtzMoving) {
-            return;
-        }
-        const targets = this.filterTargets(detections, settings);
-        switch (this.state) {
-            case 'idle':
-                this.stepIdle(targets);
-                return;
-            case 'active':
-                this.stepActive(ptz, targets, settings, now);
-                return;
-            case 'lost':
-                this.stepLost(ptz, targets, settings, now);
-                return;
-        }
-    }
-    handlePresenceDetections(detections) {
-        const settings = this.settings;
-        if (!settings?.enabled)
-            return;
-        if (!this.sensorInfo)
-            return;
-        let present = false;
-        for (const d of detections) {
-            if (!settings.targetLabels.includes(d.label))
-                continue;
-            if (d.confidence < settings.minConfidence)
-                continue;
-            present = true;
-            break;
-        }
-        // A bracketing external sensor extends the LOST grace timer but never
-        // upgrades to ACTIVE — only the drivable path issues motor commands.
-        if (present && this.state === 'lost') {
-            this.lostSinceTs = Date.now();
-        }
-    }
-    dispose() {
-        this.teardown();
-    }
-    consumePoseDelta() {
-        if (!this.referencePose)
-            return undefined;
-        // Always emit a delta once seeded, even (0,0): toggling transform on/off
-        // mid-session would strand earlier filter state in the old frame.
-        return {
-            panDelta: this.currentPose.pan - this.referencePose.pan,
-            tiltDelta: this.currentPose.tilt - this.referencePose.tilt,
-        };
-    }
-    stepIdle(targets) {
-        if (targets.length === 0)
-            return;
-        // Follow the largest fresh detection; skip extrapolated tracks so we don't
-        // lock the motor onto a Kalman guess.
-        let best;
-        let bestArea = -1;
-        for (const t of targets) {
-            if (typeof t.trackId !== 'number')
-                continue;
-            if (t.trackLost)
-                continue;
-            const area = t.box.width * t.box.height;
-            if (area > bestArea) {
-                best = t;
-                bestArea = area;
-            }
-        }
-        if (!best || typeof best.trackId !== 'number')
-            return;
-        this.activeTrackId = best.trackId;
-        this.state = 'active';
-    }
-    stepActive(ptz, targets, settings, now) {
-        const target = targets.find((t) => t.trackId === this.activeTrackId);
-        if (!target) {
-            this.state = 'lost';
-            this.lostSinceTs = now;
-            return;
-        }
-        // Don't drive the motor on an extrapolated track: the Kalman guess drifts
-        // off-frame over a long miss. Wait for a real match or the drop to LOST.
-        if (target.trackLost) {
-            return;
-        }
-        const cx = target.box.x + target.box.width * 0.5;
-        const cy = target.box.y + target.box.height * 0.5;
-        // Aim where the target will be, not where it was last seen. Velocity ~0
-        // for a stationary target, so the gates below are unchanged.
-        const leadFrames = settings.leadFrames ?? DEFAULT_LEAD_FRAMES;
-        const velocity = target.trackVelocity;
-        const leadX = clamp((velocity?.x ?? 0) * leadFrames, -MAX_LEAD_DISPLACEMENT, MAX_LEAD_DISPLACEMENT);
-        const leadY = clamp((velocity?.y ?? 0) * leadFrames, -MAX_LEAD_DISPLACEMENT, MAX_LEAD_DISPLACEMENT);
-        const errX = cx + leadX - 0.5;
-        const errY = cy + leadY - 0.5;
-        const deadZone = settings.triggerDeadZone;
-        const outsideDeadZone = Math.abs(errX) > deadZone || Math.abs(errY) > deadZone;
-        if (!outsideDeadZone) {
-            return;
-        }
-        // Don't chase a stationary target's bbox jitter. Bypassed on a large error
-        // (> 2x dead zone): a fresh detection can be far off-center while the
-        // Kalman velocity is still warming up and reads artificially low.
-        const trackSpeed = target.trackSpeed ?? 0;
-        const errMag = Math.max(Math.abs(errX), Math.abs(errY));
-        const largeError = errMag > deadZone * 2;
-        if (!largeError && trackSpeed < STATIONARY_SPEED_THRESHOLD) {
-            return;
-        }
-        if (now - this.lastCommandAt < MIN_COMMAND_INTERVAL_MS)
-            return;
-        // Speed proportional to error. Tilt is inverted: image Y grows downward,
-        // positive ONVIF tilt rotates up.
-        const speedGain = settings.trackingSpeed ?? DEFAULT_SPEED_GAIN;
-        const panMag = Math.abs(errX) * speedGain;
-        const tiltMag = Math.abs(errY) * speedGain;
-        const finalPan = Math.abs(errX) <= deadZone ? 0 : Math.sign(errX) * Math.min(MAX_SPEED, Math.max(MIN_SPEED, panMag));
-        const finalTilt = Math.abs(errY) <= deadZone ? 0 : -Math.sign(errY) * Math.min(MAX_SPEED, Math.max(MIN_SPEED, tiltMag));
-        // Pulse duration sized to close the error once (panRate = assumed pan
-        // travel per second at full speed), so the motor stops near the target.
-        const panRate = settings.panRate ?? DEFAULT_PAN_RATE;
-        const speedMag = Math.max(Math.abs(finalPan), Math.abs(finalTilt));
-        const pulseErrMag = Math.max(Math.abs(finalPan) > 0 ? Math.abs(errX) : 0, Math.abs(finalTilt) > 0 ? Math.abs(errY) : 0);
-        const estMs = (pulseErrMag / Math.max(0.01, speedMag * panRate)) * 1000;
-        const pulseMs = Math.max(MIN_PULSE_MS, Math.min(MAX_PULSE_MS, estMs));
-        this.sendVelocity(ptz, { panSpeed: finalPan, tiltSpeed: finalTilt, zoomSpeed: 0 });
-        this.lastCommandAt = now;
-        this.clearStopTimer();
-        this.stopTimer = setTimeout(() => {
-            this.stopTimer = undefined;
-            if (!this.sensorInfo)
-                return;
-            this.sendVelocity(this.sensorInfo, { panSpeed: 0, tiltSpeed: 0, zoomSpeed: 0 });
-        }, pulseMs);
-    }
-    clearStopTimer() {
-        if (this.stopTimer) {
-            clearTimeout(this.stopTimer);
-            this.stopTimer = undefined;
-        }
-    }
-    stepLost(ptz, targets, settings, now) {
-        const reappeared = targets.find((t) => t.trackId === this.activeTrackId);
-        if (reappeared) {
-            this.state = 'active';
-            return;
-        }
-        if (!settings.returnToHome)
-            return;
-        if (now - this.lostSinceTs < settings.homeWaitMs)
-            return;
-        if (ptz.capabilities.includes(PTZCapability.Home)) {
-            this.sendPosition(ptz, { pan: 0, tilt: 0, zoom: 0 });
-        }
-        this.activeTrackId = undefined;
-        this.state = 'idle';
-    }
-    filterTargets(detections, settings) {
-        const out = [];
-        for (const d of detections) {
-            if (!settings.targetLabels.includes(d.label))
-                continue;
-            if (d.confidence < settings.minConfidence)
-                continue;
-            out.push(d);
-        }
-        return out;
-    }
-    handlePositionChange(pos) {
-        if (!pos)
-            return;
-        this.currentPose = { pan: pos.pan ?? this.currentPose.pan, tilt: pos.tilt ?? this.currentPose.tilt };
-        // Seed the reference from a real event, not the SDK's (0,0) default, which
-        // would feed a spurious world-scale offset to the tracker on frame 1.
-        this.referencePose ??= { ...this.currentPose };
-    }
-    handleMovementChange(moving) {
-        const was = this.isPtzMoving;
-        this.isPtzMoving = moving;
-        if (was === moving)
-            return;
-        if (moving && !was) {
-            // Blank motion bboxes for the move — frame-diff is unusable during ego-motion.
-            this.deps.onSuppressionActivated();
-        }
-    }
-    reset() {
-        this.state = 'idle';
-        this.activeTrackId = undefined;
-        this.lostSinceTs = 0;
-        this.lastCommandAt = 0;
-        this.lastStopIssuedAt = 0;
-        this.clearStopTimer();
-    }
-    teardown() {
-        if (this.watcherUnsubscribe) {
-            try {
-                this.watcherUnsubscribe();
-            }
-            catch {
-                // ignore
-            }
-            this.watcherUnsubscribe = undefined;
-        }
-        this.sensorInfo = undefined;
-        this.isPtzMoving = false;
-        this.currentPose = { pan: 0, tilt: 0 };
-        this.referencePose = undefined;
-        this.reset();
-    }
-    sendVelocity(ptz, v) {
-        const isStop = v.panSpeed === 0 && v.tiltSpeed === 0 && v.zoomSpeed === 0;
-        const wasMoving = this.isPtzMoving;
-        this.isPtzMoving = !isStop;
-        if (!isStop && !wasMoving) {
-            this.deps.onSuppressionActivated();
-        }
-        if (isStop) {
-            this.lastStopIssuedAt = Date.now();
-        }
-        this.getPtzRpc(ptz)
-            .updateValue(PTZProperty.Velocity, v)
-            .catch(() => { });
-    }
-    sendPosition(ptz, p) {
-        this.getPtzRpc(ptz)
-            .updateValue(PTZProperty.Position, p)
-            .catch(() => { });
-    }
-    getPtzRpc(ptz) {
-        const ns = NamespaceManager.sensorProviderNamespaces(ptz.pluginId, this.deps.cameraId, ptz.sensorId).sensorRpc;
-        return this.deps.proxy.createProxy(ns);
-    }
-}
-//# sourceMappingURL=ptz-autotracker.js.map

package/dist/server/src/camera/decoder/ptz-autotracker.js.map

@@ -1 +0,0 @@
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package/dist/server/src/camera/decoder/snapshot-source.js.map

@@ -1 +0,0 @@
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