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Autotracker: minor efficiency tweaks #7163

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merged 1 commit into from Jul 15, 2023
Merged

Autotracker: minor efficiency tweaks #7163

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89 changes: 31 additions & 58 deletions frigate/ptz/autotrack.py
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Expand Up @@ -119,7 +119,7 @@ def __init__(
self.config = config

def run(self):
while not self.stop_event.is_set():
while not self.stop_event.wait(1):
for camera_name, cam in self.config.cameras.items():
if cam.onvif.autotracking.enabled:
self.ptz_autotracker.camera_maintenance(camera_name)
Expand All @@ -128,7 +128,7 @@ def run(self):
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...")


Expand Down Expand Up @@ -199,66 +199,39 @@ def _autotracker_setup(self, cam, camera_name):
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
move_data = self.move_queues[camera].get()
frame_time, pan, tilt = move_data

# 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,
):
# 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}, final pan: {pan}, final tilt: {tilt}"
)
continue

# 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)
# 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)
continue

def _enqueue_move(self, camera, frame_time, pan, tilt):
move_data = (frame_time, pan, tilt)
Expand Down