e81ea8961c
_displacement (mean per-keypoint delta between the last two track frames, normalized by bbox height) was duplicated verbatim in edge/detectors/fall.py and edge/detectors/immobility.py. Move it to edge/geometry.py as track_displacement(track) and have both detectors call the shared helper instead of their own private copy. Pure refactor — behavior is identical (byte-identical formula), no config or public API changes. Tests: tests/test_geometry.py adds direct coverage for the new public helper (fewer-than-two-frames default, and the normalized-by-height calculation). Existing fall/immobility tests are unchanged and stay green, confirming behavior parity.
110 lines
4.1 KiB
Python
110 lines
4.1 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,
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track_displacement,
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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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recover_grace_s: float = 1.0 # 사고 상태에서 회복 판정까지 요구되는 지속 비-prone 시간
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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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not_prone_since: float | None = None
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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 forget(self, track_id: int) -> None:
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self._states.pop(track_id, None)
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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 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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# 단일 튐(noisy) 프레임만으로 CRITICAL 사고를 즉시 취소하지 않도록
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# recover_grace_s만큼 지속된 비-prone을 요구한다.
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if st.not_prone_since is None:
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st.not_prone_since = now
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return None, {}
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if now - st.not_prone_since >= self.cfg.recover_grace_s:
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self._states[track.track_id] = _State(baseline_height=bbox.height)
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return "recover", {}
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return None, {}
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st.prone_since = None
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return None, {}
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# prone 상태 (재-prone 프레임은 대기 중인 recover 유예를 취소)
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st.not_prone_since = None
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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 track_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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