f1ee7f0a36
Three keypoint-trust hardening fixes that reuse the codebase's existing "visible" confidence convention (no new tuning knobs): - P2-9 zone.py: _foot averaged both ankles unconditionally, so a hallucinated ankle (conf~0, often pinned to (0,0)) dragged the foot point into or out of a zone. Now averages only ankles with conf >= 0.2 and falls back to the bbox bottom-centre when neither is trustworthy. - P2-11 geometry.py: head_below_hips used the NOSE regardless of confidence. Now returns False when the nose is below the visibility threshold, so an unconfident/hallucinated nose can't fire the head-below-hips fall cue. The confident-nose path is unchanged (test_fall.py stays green). - P2-10 movenet_pose.py: the CPU MoveNet fallback is single-person, so at a multi-worker site every worker but one is silently invisible to fall/zone/ghost detection. Construction now logs a loud startup WARNING pointing to the Hailo backend. Tests: test_zone (bbox fallback), test_geometry (low-conf nose), and test_movenet_pose (caplog warning). Full python suite: 157 passed, 2 skipped. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_019Xmn8KZWqiQUguEMRtn6rW
87 lines
3.4 KiB
Python
87 lines
3.4 KiB
Python
from dataclasses import dataclass
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from edge.tracking import Track
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from edge.models import L_ANKLE, R_ANKLE
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# Below this an ankle keypoint is treated as unusable (typically hallucinated at conf~0).
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MIN_ANKLE_CONF = 0.2
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def point_in_polygon(x: float, y: float, poly: list[tuple[float, float]]) -> bool:
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inside = False
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n = len(poly)
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j = n - 1
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for i in range(n):
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xi, yi = poly[i]
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xj, yj = poly[j]
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if ((yi > y) != (yj > y)) and (x < (xj - xi) * (y - yi) / ((yj - yi) or 1e-9) + xi):
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inside = not inside
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j = i
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return inside
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@dataclass(frozen=True)
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class Zone:
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zone_id: str
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level: str # "warning" | "restricted"
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polygon: list # list[tuple[float,float]]
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@dataclass
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class ZoneConfig:
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debounce_s: float = 0.75
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class ZoneIntrusionDetector:
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def __init__(self, zones: list[Zone], cfg: ZoneConfig):
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self.zones = zones
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self.cfg = cfg
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self._inside_since: dict[tuple[int, str], float] = {}
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self._fired: set[tuple[int, str]] = set()
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def forget(self, track_id: int) -> None:
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self._inside_since = {k: v for k, v in self._inside_since.items() if k[0] != track_id}
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self._fired = {k for k in self._fired if k[0] != track_id}
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def _foot(self, track: Track, frame_wh=None) -> tuple[float, float]:
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p = track.latest
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a, b = p.keypoints[L_ANKLE], p.keypoints[R_ANKLE]
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# Average only the ankles the model is confident about. A hallucinated ankle (conf~0,
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# often pinned to (0,0) or a frame corner) would otherwise drag the foot point into or
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# out of a zone. With neither ankle trustworthy, fall back to the bbox bottom-centre — a
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# robust standing-foot proxy (same bbox-fallback discipline as fall.py's cues).
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good = [k for k in (a, b) if k.conf >= MIN_ANKLE_CONF]
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if good:
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fx = sum(k.x for k in good) / len(good)
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fy = sum(k.y for k in good) / len(good)
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else:
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fx, fy = p.bbox.cx, p.bbox.y2
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# Zones are stored NORMALIZED (0..1 of the image) by the dashboard, which stretches the
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# camera snapshot to a fixed canvas. The foot is camera-native pixels, so normalize it
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# by the frame size to compare in the same space — otherwise every zone is misplaced
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# (a zone drawn at image-centre would be checked against a raw pixel like 480, matching
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# nothing on a 1280-wide frame). frame_wh=None keeps raw coords for unit tests that
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# supply their own matching space.
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if frame_wh:
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w, h = frame_wh
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if w > 0 and h > 0:
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fx, fy = fx / w, fy / h
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return (fx, fy)
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def active_zone_ids(self, track_id: int) -> set:
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return {z for (tid, z) in self._inside_since if tid == track_id}
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def update(self, track: Track, now: float, frame_wh=None) -> list[dict]:
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fx, fy = self._foot(track, frame_wh)
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out = []
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for zone in self.zones:
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key = (track.track_id, zone.zone_id)
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if point_in_polygon(fx, fy, zone.polygon):
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start = self._inside_since.setdefault(key, now)
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if now - start >= self.cfg.debounce_s and key not in self._fired:
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self._fired.add(key)
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out.append({"zone_id": zone.zone_id, "level": zone.level})
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else:
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self._inside_since.pop(key, None)
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self._fired.discard(key)
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return out
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