105 lines
3.7 KiB
Python
105 lines
3.7 KiB
Python
from dataclasses import dataclass
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from edge.tracking import Track
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from edge.geometry import (
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torso_angle_deg, head_below_hips, core_visible, visible_count, normalize,
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)
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@dataclass
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class FallConfig:
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falling_angle: float = 45.0
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fallen_angle: float = 70.0
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aspect_ratio: float = 1.25
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height_collapse: float = 0.35 # baseline 대비 남은 높이 비율(이 값 미만이면 급붕괴)
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prone_confirm_s: float = 3.0
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no_motion_s: float = 10.0
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motion_thr: float = 0.02 # 정규화 관절변위 임계
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min_conf: float = 0.5
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min_visible: int = 10
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@dataclass
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class _State:
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name: str = "STANDING"
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baseline_height: float | None = None
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prone_since: float | None = None
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still_since: float | None = None
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fall_emitted: bool = False
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no_motion_emitted: bool = False
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class FallDetector:
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def __init__(self, cfg: FallConfig):
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self.cfg = cfg
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self._states: dict[int, _State] = {}
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def _prone(self, kps, bbox, st: _State) -> tuple[bool, dict]:
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angle = torso_angle_deg(kps)
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ar = bbox.aspect
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remaining = 1.0
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if st.baseline_height:
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remaining = bbox.height / st.baseline_height
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prone = (
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angle > self.cfg.fallen_angle
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or ar > self.cfg.aspect_ratio
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or remaining < self.cfg.height_collapse # 높이 급붕괴(정면/후면 낙상)
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or head_below_hips(kps)
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)
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return prone, {"torso_angle": round(angle, 1),
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"aspect_ratio": round(ar, 2),
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"height_remaining": round(remaining, 2)}
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def _displacement(self, track: Track) -> float:
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if len(track.frames) < 2:
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return 1.0
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a, b = track.frames[-2], track.frames[-1]
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h = b.bbox.height or 1.0
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d = sum(((p.x - q.x) ** 2 + (p.y - q.y) ** 2) ** 0.5
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for p, q in zip(a.keypoints, b.keypoints)) / len(b.keypoints)
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return normalize(d, h)
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def update(self, track: Track, now: float) -> tuple[str | None, dict]:
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st = self._states.setdefault(track.track_id, _State())
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f = track.latest
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kps, bbox = f.keypoints, f.bbox
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# 신뢰도 게이트
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if not core_visible(kps, self.cfg.min_conf) or visible_count(kps) < self.cfg.min_visible:
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return None, {}
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prone, meta = self._prone(kps, bbox, st)
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# incident 비활성일 때만 baseline(정상 키높이) 갱신 = incident 중 freeze
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if st.name == "STANDING" and not prone:
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st.baseline_height = bbox.height
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if not prone:
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if st.name in ("FALLING", "FALLEN", "NO_MOTION"):
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self._states[track.track_id] = _State(baseline_height=bbox.height)
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return "recover", {}
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st.prone_since = None
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return None, {}
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# prone 상태
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if st.prone_since is None:
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st.prone_since = now
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st.name = "FALLING"
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if now - st.prone_since >= self.cfg.prone_confirm_s and not st.fall_emitted:
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st.name = "FALLEN"
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st.fall_emitted = True
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st.still_since = now
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return "fall", meta
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# FALLEN 이후 미동 감시
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if st.fall_emitted:
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if self._displacement(track) < self.cfg.motion_thr:
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if st.still_since is None:
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st.still_since = now
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elif now - st.still_since >= self.cfg.no_motion_s and not st.no_motion_emitted:
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st.name = "NO_MOTION"
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st.no_motion_emitted = True
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return "no_motion", {**meta, "immobility_s": round(now - st.still_since, 1)}
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else:
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st.still_since = None
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return None, {}
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