32f2237db7
- P2-6 tracking: global greedy IoU matching (all pairs, best overlap first) replaces track-iteration-order greedy, so a crossing worker's box can no longer be stolen by whichever track came first. Any track in a contended match (person overlapping 2 tracks, or track overlapping 2 persons) is reported via tracker.ambiguous(); run_once resets its detector + smoother state so FALLEN/baseline/immobility never ride an id swap onto the wrong person. A genuinely fallen worker re-confirms within prone_confirm_s. - P2-7 fall: STANDING -> FALLING now requires sustained prone (falling_confirm_s, 1.0s). One prone-looking frame (a bend, a bbox glitch) no longer arms the ghost detector's CRITICAL if the person then leaves. FALLEN / no_motion timing is unchanged (keyed off prone_since). - P2-8 app: run_once feeds the engine and smoothers only tracks re-detected this tick; a track coasting inside max_age with a frozen frame is no-data, so prone-confirm / no-motion / immobility timers cannot accrue on stale data. Re-detection still confirms the fall (dropout pauses evidence). TDD: 7 new tests verified failing on the pre-fix code (git stash), then 203 passed / 2 skipped (hardware) with the fixes.
140 lines
6.2 KiB
Python
140 lines
6.2 KiB
Python
from collections import deque
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from edge.models import Keypoint, BBox
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from edge.tracking import Track, TrackFrame
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from edge.detectors.fall import FallDetector, FallConfig
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def _standing_kps():
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kps = [Keypoint(50, 150, 0.9) for _ in range(17)]
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kps[5] = Keypoint(40, 100, 0.9); kps[6] = Keypoint(60, 100, 0.9)
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kps[11] = Keypoint(40, 200, 0.9); kps[12] = Keypoint(60, 200, 0.9)
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kps[0] = Keypoint(50, 60, 0.9) # nose above hips
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return kps
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def _lying_kps():
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kps = [Keypoint(150, 300, 0.9) for _ in range(17)]
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kps[5] = Keypoint(100, 300, 0.9); kps[6] = Keypoint(100, 310, 0.9)
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kps[11] = Keypoint(200, 300, 0.9); kps[12] = Keypoint(200, 310, 0.9)
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kps[0] = Keypoint(90, 320, 0.9) # nose below hips
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return kps
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def _track():
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return Track(1, deque(maxlen=90))
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def _feed(det, track, kps, bbox, t):
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track.frames.append(TrackFrame(t, bbox, kps))
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return det.update(track, now=t)
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def test_standing_produces_no_event():
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det = FallDetector(FallConfig())
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tr = _track()
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sig, _ = _feed(det, tr, _standing_kps(), BBox(40, 60, 60, 210), t=0.0)
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assert sig is None
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def test_fall_detected_from_bbox_when_keypoints_low_confidence():
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# A fallen person is exactly when the pose model loses confidence (occluded, on the
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# floor). The old blanket confidence gate returned None -> fall/no_motion/ghost all
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# DISABLED for the person on the ground. The bbox cues (wide-and-short) don't need
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# keypoints and must still fire.
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det = FallDetector(FallConfig(prone_confirm_s=0.5, min_conf=0.5, min_visible=10))
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tr = _track()
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low_conf = [Keypoint(100, 100, 0.1) for _ in range(17)] # all below min_conf
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wide_short = BBox(0, 0, 200, 100) # aspect 2.0 -> prone
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_feed(det, tr, low_conf, wide_short, t=0.0) # FALLING
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sig, _ = _feed(det, tr, low_conf, wide_short, t=0.6) # prone 0.6s > 0.5 -> FALLEN
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assert sig == "fall"
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def test_low_confidence_standing_is_not_a_false_fall():
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# ...but a low-confidence STANDING person (tall, narrow bbox, no collapse) must NOT be
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# flagged — the bbox cues alone stay conservative.
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det = FallDetector(FallConfig(prone_confirm_s=0.5, min_conf=0.5, min_visible=10))
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tr = _track()
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low_conf = [Keypoint(50, 100, 0.1) for _ in range(17)]
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tall_narrow = BBox(40, 60, 60, 210) # aspect ~0.13 -> not prone
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_feed(det, tr, low_conf, tall_narrow, t=0.0)
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sig, _ = _feed(det, tr, low_conf, tall_narrow, t=0.6)
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assert sig is None
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def test_lying_confirmed_after_prone_seconds_emits_fall():
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det = FallDetector(FallConfig(prone_confirm_s=1.0))
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tr = _track()
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lying_box = BBox(90, 290, 210, 320) # 넓고 낮음 (aspect>1.25)
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_feed(det, tr, _lying_kps(), lying_box, t=0.0)
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sig, meta = _feed(det, tr, _lying_kps(), lying_box, t=1.5) # prone 1.5s > 1.0
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assert sig == "fall"
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assert meta["torso_angle"] > 80
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def test_front_fall_height_collapse_triggers_without_angle():
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# 정면 낙상: 각도/종횡비 안 변해도 bbox 높이 급붕괴
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det = FallDetector(FallConfig(prone_confirm_s=0.5))
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tr = _track()
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tall = BBox(40, 60, 60, 210) # height 150
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_feed(det, tr, _standing_kps(), tall, t=0.0)
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short = BBox(40, 180, 60, 210) # height 30 (붕괴 0.8)
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_feed(det, tr, _standing_kps(), short, t=0.2)
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sig, _ = _feed(det, tr, _standing_kps(), short, t=0.9)
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assert sig == "fall"
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def test_no_motion_after_fall_escalates():
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det = FallDetector(FallConfig(prone_confirm_s=0.5, no_motion_s=1.0, motion_thr=0.05))
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tr = _track()
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box = BBox(90, 290, 210, 320)
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_feed(det, tr, _lying_kps(), box, t=0.0)
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_feed(det, tr, _lying_kps(), box, t=0.6) # -> fall
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_feed(det, tr, _lying_kps(), box, t=1.0) # 미동 지속
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sig, _ = _feed(det, tr, _lying_kps(), box, t=2.0) # 부동 >1.0s
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assert sig == "no_motion"
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def test_recovery_clears_state():
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# Recovery requires SUSTAINED non-prone for recover_grace_s, not a single frame.
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det = FallDetector(FallConfig(prone_confirm_s=0.5, recover_grace_s=1.0))
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tr = _track()
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box = BBox(90, 290, 210, 320)
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_feed(det, tr, _lying_kps(), box, t=0.0)
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_feed(det, tr, _lying_kps(), box, t=0.6) # fall
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standing_box = BBox(40, 60, 60, 210)
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# a single standing frame right after a fall must NOT recover yet
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sig, _ = _feed(det, tr, _standing_kps(), standing_box, t=1.0)
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assert sig is None
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# sustained standing through the grace window -> recover fires
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sig, _ = _feed(det, tr, _standing_kps(), standing_box, t=2.5)
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assert sig == "recover"
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def test_single_noisy_nonprone_frame_does_not_cancel_no_motion():
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det = FallDetector(FallConfig(prone_confirm_s=0.5, no_motion_s=1.0, motion_thr=0.05,
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recover_grace_s=1.0))
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tr = _track()
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box = BBox(90, 290, 210, 320)
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_feed(det, tr, _lying_kps(), box, t=0.0)
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_feed(det, tr, _lying_kps(), box, t=0.6) # -> fall
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_feed(det, tr, _lying_kps(), box, t=1.0) # still
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sig, _ = _feed(det, tr, _lying_kps(), box, t=2.0) # immobile >1.0s
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assert sig == "no_motion"
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# a single noisy non-prone frame within the grace window must NOT cancel
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# the in-progress CRITICAL no_motion incident.
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sig, _ = _feed(det, tr, _standing_kps(), BBox(40, 60, 60, 210), t=2.3)
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assert sig is None
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st = det._states[tr.track_id]
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assert st.name == "NO_MOTION"
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def test_single_prone_frame_does_not_enter_falling():
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# FALLING is a DANGEROUS state: if the track vanishes while in it, the ghost detector
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# arms a CRITICAL incident. A single prone-looking frame (a bend, a bbox glitch) must
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# not be enough — FALLING requires sustained prone (falling_confirm_s).
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det = FallDetector(FallConfig()) # falling_confirm_s=1.0
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tr = _track()
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box = BBox(90, 290, 210, 320)
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_feed(det, tr, _lying_kps(), box, t=0.0)
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assert det._states[1].name == "STANDING"
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_feed(det, tr, _lying_kps(), box, t=1.2) # sustained prone -> now FALLING
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assert det._states[1].name == "FALLING"
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def test_low_confidence_is_ignored():
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det = FallDetector(FallConfig())
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tr = _track()
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kps = [Keypoint(0, 0, 0.1) for _ in range(17)] # 전부 저신뢰
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sig, _ = _feed(det, tr, kps, BBox(0, 0, 100, 30), t=0.0)
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assert sig is None
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