@camera.ui/server 2.2.8 → 2.3.0

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

@@ -6,7 +6,7 @@ const MAX_SPEED = 1.0;
 const MIN_PULSE_MS = 250;
 const MAX_PULSE_MS = 1000;
 const MIN_COMMAND_INTERVAL_MS = 200;
-const STATIONARY_SPEED_THRESHOLD = 0.006;
+const STILL_SPEED = 0.03;
 const MAX_LEAD_DISPLACEMENT = 0.45;
 const AIM_CONFIRM_FRAMES = 3;
 const AIM_IMMEDIATE_ERROR = 0.25;
@@ -16,9 +16,15 @@ const EDGE_TOUCH_MARGIN = 0.02;
 const EDGE_ERR_FLOOR = 0.3;
 const POST_STOP_MOTION_SETTLE_MS = 1200;
 const MOVE_WATCHDOG_MS = 5000;
+const TARGET_MISS_GRACE_MS = 3000;
+const CONTINUATION_GATE = 0.08;
+const CONTINUATION_MAX_S = 6;
+const CONTINUATION_GATE_MAX = 0.3;
+const AIM_VELOCITY_ALPHA = 0.3;
+const AIM_VELOCITY_MAX_GAP_S = 3;
 const EXTERNAL_COOLDOWN_MS = 45_000;
 const DEFAULT_SPEED_GAIN = 2.0;
-const DEFAULT_LEAD_MS = 1800;
+const DEFAULT_LEAD_MS = 1500;
 const DEFAULT_PAN_RATE = 0.85;
 function clamp(value, min, max) {
     return Math.min(max, Math.max(min, value));
@@ -60,6 +66,9 @@ export class PtzAutotracker {
     activeTrackId;
     targetCentered = false;
     lostSinceTs = 0;
+    missingSince = 0;
+    aim;
+    companions = new Set();
     lastCommandAt = 0;
     stopTimer;
     moveWatchdog;
@@ -156,7 +165,7 @@ export class PtzAutotracker {
         const targets = this.filterTargets(detections, settings);
         switch (this.state) {
             case 'idle':
-                this.stepIdle(targets, settings);
+                this.stepIdle(targets, settings, now);
                 return;
             case 'active':
                 this.stepActive(ptz, targets, settings, now);
@@ -207,8 +216,6 @@ export class PtzAutotracker {
         for (const t of targets) {
             if (typeof t.trackId !== 'number')
                 continue;
-            if (t.trackLost)
-                continue;
             // too small to be worth turning the camera for, and usually noise
             if (minSize > 0 && t.box.height < minSize)
                 continue;
@@ -220,44 +227,113 @@ export class PtzAutotracker {
         }
         return best;
     }
-    follow(target) {
+    follow(target, now) {
         this.activeTrackId = target.trackId;
+        this.missingSince = 0;
+        this.aim = undefined;
+        this.companions.clear();
+        this.observe(target, now);
         this.targetCentered = false;
         this.state = 'active';
     }
-    stepIdle(targets, settings) {
+    observe(target, now) {
+        const x = target.box.x + target.box.width / 2;
+        const y = target.box.y + target.box.height / 2;
+        const prev = this.aim;
+        let vx = prev?.vx ?? target.trackVelocity?.x ?? 0;
+        let vy = prev?.vy ?? target.trackVelocity?.y ?? 0;
+        // the target's own motion is the picture displacement minus what our moves shifted
+        if (prev) {
+            const dt = (now - prev.at) / 1000;
+            if (dt >= 0.05 && dt <= AIM_VELOCITY_MAX_GAP_S) {
+                vx += ((x - prev.x - prev.shiftX) / dt - vx) * AIM_VELOCITY_ALPHA;
+                vy += ((y - prev.y - prev.shiftY) / dt - vy) * AIM_VELOCITY_ALPHA;
+            }
+        }
+        this.aim = { x, y, at: now, vx, vy, shiftX: 0, shiftY: 0, label: target.label, width: target.box.width, height: target.box.height };
+    }
+    shifted(pan, tilt) {
+        if (!this.aim)
+            return;
+        this.aim.shiftX -= pan;
+        this.aim.shiftY += tilt;
+    }
+    continuation(targets, now) {
+        const aim = this.aim;
+        if (!aim)
+            return undefined;
+        const dt = (now - aim.at) / 1000;
+        if (dt > CONTINUATION_MAX_S)
+            return undefined;
+        const px = aim.x + aim.shiftX + aim.vx * dt;
+        const py = aim.y + aim.shiftY + aim.vy * dt;
+        const gateX = Math.min(CONTINUATION_GATE_MAX, Math.max(aim.width * 1.5, CONTINUATION_GATE) + Math.abs(aim.vx) * dt * 2 + Math.abs(aim.shiftX) * 0.3);
+        const gateY = Math.min(CONTINUATION_GATE_MAX, Math.max(aim.height * 0.5, CONTINUATION_GATE) + Math.abs(aim.vy) * dt * 2 + Math.abs(aim.shiftY) * 0.3);
+        let best;
+        let bestDist = Infinity;
+        for (const t of targets) {
+            if (typeof t.trackId !== 'number' || t.trackId === this.activeTrackId || t.label !== aim.label || this.companions.has(t.trackId))
+                continue;
+            const dx = Math.abs(t.box.x + t.box.width / 2 - px) / gateX;
+            const dy = Math.abs(t.box.y + t.box.height / 2 - py) / gateY;
+            if (dx > 1 || dy > 1)
+                continue;
+            const dist = Math.hypot(dx, dy);
+            if (dist < bestDist) {
+                best = t;
+                bestDist = dist;
+            }
+        }
+        return best;
+    }
+    stepIdle(targets, settings, now) {
         const best = this.pickLargestFresh(targets, settings.minTargetSize ?? 0);
         if (!best)
             return;
         this.deps.logger.trace(`[autotracker] following ${best.label}#${best.trackId}`);
-        this.follow(best);
+        this.follow(best, now);
     }
     stepActive(ptz, targets, settings, now) {
-        const target = targets.find((t) => t.trackId === this.activeTrackId);
+        let target = targets.find((t) => t.trackId === this.activeTrackId);
         if (!target) {
+            // a pan or a gap can give the same person a new id: the track where the
+            // target should be by now takes over at once
+            target = this.continuation(targets, now);
+            if (target) {
+                this.deps.logger.trace(`[autotracker] target #${this.activeTrackId} continues as #${target.trackId}`);
+                this.activeTrackId = target.trackId;
+            }
+        }
+        if (!target) {
+            // nobody there: hold the pose through the gap instead of handing the
+            // camera to another person; blind time while the camera moves never counts
+            this.missingSince ||= now;
+            if (now - this.missingSince < TARGET_MISS_GRACE_MS)
+                return;
             this.deps.logger.trace(`[autotracker] lost target #${this.activeTrackId}`);
             this.state = 'lost';
             this.lostSinceTs = now;
+            this.missingSince = 0;
             return;
         }
-        // extrapolated boxes drift off-frame over a long miss, wait for a real match
-        if (target.trackLost) {
-            return;
+        this.missingSince = 0;
+        this.observe(target, now);
+        for (const t of targets) {
+            if (typeof t.trackId === 'number' && t.trackId !== target.trackId)
+                this.companions.add(t.trackId);
         }
         const cx = target.box.x + target.box.width * 0.5;
         const cy = target.box.y + target.box.height * 0.5;
-        // lead across the camera's move+settle blind window; velocity is per frame
-        const leadMs = settings.leadMs ?? DEFAULT_LEAD_MS;
-        const fps = this.deps.getFps?.() ?? 10;
-        const blindFrames = (leadMs / 1000) * fps;
-        const velocity = target.trackVelocity;
-        // the estimate never quite reaches zero when someone stops, and 18 blind
-        // frames turn that leftover into a phantom half a frame wide, so fade the
+        // lead across the camera's move+settle blind window, in real time: the
+        // velocity is frame widths per second, neither stream fps nor tick rate enter
+        const leadSec = (settings.leadMs ?? DEFAULT_LEAD_MS) / 1000;
+        const vx = this.aim?.vx ?? 0;
+        const vy = this.aim?.vy ?? 0;
+        // the estimate never quite reaches zero when someone stops, so fade the
         // prediction out with the speed instead of trusting it at face value
-        const trackSpeed = target.trackSpeed ?? 0;
-        const leadScale = clamp((trackSpeed - STATIONARY_SPEED_THRESHOLD) / STATIONARY_SPEED_THRESHOLD, 0, 1);
-        const leadX = clamp((velocity?.x ?? 0) * blindFrames * leadScale, -MAX_LEAD_DISPLACEMENT, MAX_LEAD_DISPLACEMENT);
-        const leadY = clamp((velocity?.y ?? 0) * blindFrames * leadScale, -MAX_LEAD_DISPLACEMENT, MAX_LEAD_DISPLACEMENT);
+        const leadScale = clamp((Math.hypot(vx, vy) - STILL_SPEED) / STILL_SPEED, 0, 1);
+        const leadX = clamp(vx * leadSec * leadScale, -MAX_LEAD_DISPLACEMENT, MAX_LEAD_DISPLACEMENT);
+        const leadY = clamp(vy * leadSec * leadScale, -MAX_LEAD_DISPLACEMENT, MAX_LEAD_DISPLACEMENT);
         let errX = cx + leadX - 0.5;
         let errY = cy + leadY - 0.5;
         // clipped box at a frame edge: keep pushing toward that edge
@@ -311,6 +387,7 @@ export class PtzAutotracker {
             this.lastCommandAt = now;
             this.rememberMove(Math.sign(move.pan), Math.sign(move.tilt));
             this.sendRelativeMove(ptz, { panDelta: move.pan, tiltDelta: move.tilt, zoomDelta: 0 });
+            this.shifted(move.pan, move.tilt);
             this.deps.logger.trace(`[autotracker] relative move err=(${errX.toFixed(2)},${errY.toFixed(2)})`);
             return;
         }
@@ -333,6 +410,7 @@ export class PtzAutotracker {
                 // clamped axes stay dir 0: the clamp is not an end-stop
                 this.rememberMove(panProgress ? Math.sign(move.pan) : 0, tiltProgress ? Math.sign(move.tilt) : 0);
                 this.sendAbsoluteMove(ptz, target);
+                this.shifted((target.pan - this.currentPose.pan) * PAN_TO_IMAGE_RATIO, (target.tilt - this.currentPose.tilt) * PAN_TO_IMAGE_RATIO);
                 this.deps.logger.trace(`[autotracker] absolute move to (${target.pan.toFixed(3)},${target.tilt.toFixed(3)}) err=(${errX.toFixed(2)},${errY.toFixed(2)})`);
                 return;
             }
@@ -355,6 +433,7 @@ export class PtzAutotracker {
         const finalPan = absX === 0 ? 0 : Math.sign(errX) * (absX === domErr ? domSpeed : minorSpeed(absX));
         const finalTilt = absY === 0 ? 0 : -Math.sign(errY) * (absY === domErr ? domSpeed : minorSpeed(absY));
         this.sendVelocity(ptz, { panSpeed: finalPan, tiltSpeed: finalTilt, zoomSpeed: 0 });
+        this.shifted(finalPan * panRate * pulseSec, finalTilt * panRate * pulseSec);
         this.lastCommandAt = now;
         this.deps.logger.trace(`[autotracker] move pan=${finalPan.toFixed(2)} tilt=${finalTilt.toFixed(2)} pulse=${Math.round(pulseMs)}ms err=(${errX.toFixed(2)},${errY.toFixed(2)})`);
         this.clearStopTimer();
@@ -480,10 +559,10 @@ export class PtzAutotracker {
         }
         // same person under a new id after detector churn, or a new person:
         // beats staring at an empty spot until the home timeout
-        const successor = this.pickLargestFresh(targets, settings.minTargetSize ?? 0);
+        const successor = this.continuation(targets, now) ?? this.pickLargestFresh(targets, settings.minTargetSize ?? 0);
         if (successor) {
             this.deps.logger.trace(`[autotracker] reacquired ${successor.label}#${successor.trackId} (was #${this.activeTrackId})`);
-            this.follow(successor);
+            this.follow(successor, now);
             return;
         }
         if (!settings.returnToHome)
@@ -558,6 +637,9 @@ export class PtzAutotracker {
         this.activeTrackId = undefined;
         this.targetCentered = false;
         this.lostSinceTs = 0;
+        this.missingSince = 0;
+        this.aim = undefined;
+        this.companions.clear();
         this.lastCommandAt = 0;
         this.lastStopIssuedAt = 0;
         this.ownMoveUntil = 0;

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

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package/dist/server/src/camera/decoder/secondary-stage.d.ts

@@ -16,14 +16,17 @@ export declare class SecondaryStage {
     private readonly proxy;
     private readonly perf;
     private readonly logger;
-    private readonly embeddedTracks;
+    private readonly faceNames;
+    private nearestFailedAt;
     private readonly clipTracks;
     private readonly clipQueue;
     private readonly faceQueue;
+    private readonly personTracks;
+    private readonly personQueue;
     private nvrProxy?;
     private nvrProxyPromise?;
     constructor(coordinator: DetectionCoordinator, plugins: PluginRegistry, pipeline: DetectionPipeline, frameScaler: FrameScaler, proxy: RPCClient, perf: PerfTracker, logger: Logger);
-    detect(sourceFrame: Frame, scaler: FrameScaler, objectDetections: Detection[], results: DetectionResults): Promise<void>;
+    detect(sourceFrame: Frame, scaler: FrameScaler, objectDetections: Detection[], results: DetectionResults, stillPersons?: Detection[]): Promise<void>;
     detectFullFrame(rawFrame: Frame, results: DetectionResults): Promise<Buffer | null>;
     generateThumbnails(sourceFrame: Frame, scaler: FrameScaler, results: DetectionResults): Promise<DetectionThumbnail[]>;
     private attributeCrops;
@@ -32,12 +35,7 @@ export declare class SecondaryStage {
     private recognizeFaces;
     private queueFaces;
     private runFaces;
-    private wantsEmbedding;
-    private markAttempt;
-    private markGoodVector;
     private cropPointToFrame;
-    private carryTrackIdentities;
-    private embedKey;
     private collectConsumers;
     private prepareSecondaryRegions;
     private prepareFullFrameRegions;
@@ -46,6 +44,7 @@ export declare class SecondaryStage {
     private trackTiming;
     private runFaceDetection;
     private runLicensePlateDetection;
+    private suggest;
     private runClassifierDetections;
     private queueClip;
     private pushClipJob;
@@ -53,8 +52,11 @@ export declare class SecondaryStage {
     private clipTarget;
     private clipDue;
     private runClip;
-    private faceParent;
+    private queuePersons;
+    private personDue;
+    private runPersons;
     private prepareSecondaryFrames;
+    private matchNearest;
     private resolveFaceIdentities;
     private transformBoxToOriginal;
     private isOnEdge;