Peter Woolery
3b471992f2
A single person walking under the overhead camera was generating both an entry and an exit within a few seconds — the line-crossing logic treated a blob's traversal into one side of the frame and out the other as two separate events whenever the track spawned near the line, oscillated against shadows, or churned at creation. Replaced line-crossing semantics with directional traversal: - Each track records spawn_y at creation and a counted flag. - An event fires only if the track is not yet counted, spawned firm on one side of the line (|spawn_y - line_y| > CV_TRAVERSAL_MARGIN_PX), and is now firm on the opposite side. Direction of travel determines entry vs exit. The track is then flagged counted — one trip, one count. - Cooldown remains as a secondary safety net. main.cpp: single/double LED pulse on entry/exit detections. Saves and restores the current LED state so upload (yellow-on) and no-WiFi indicators aren't clobbered. Tests updated to walk blobs beyond the margin and register two new cases: wobble-at-line doesn't count, and a reversed full traversal doesn't double-count on the same track. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
57 lines
1.8 KiB
C++
57 lines
1.8 KiB
C++
// firmware/lib/cv/cv.h
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#pragma once
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#include <stdint.h>
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#include <vector>
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static const int CV_W = 96;
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static const int CV_H = 96;
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static const int CV_PIXELS = CV_W * CV_H;
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static const uint8_t CV_DIFF_THRESH = 30;
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static const int CV_MIN_BLOB_PX = 64;
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static const float CV_MAX_MOVE = 15.0f;
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static const int CV_MAX_MISSED = 10;
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// Directional counting margin: a track only counts if it spawned and is now
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// both at least this far from the line (in pixels). Prevents counting blobs
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// that wobble around the line or spawn on top of it. Value chosen at ~15% of
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// the 96px frame: 14px ≈ the typical torso half-width overhead.
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static const float CV_TRAVERSAL_MARGIN_PX = 14.0f;
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// Per-direction crossing cooldown. Any same-direction crossing whose frame gap
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// is strictly less than this value is dropped. At 5 fps, a value of 5 → ≈0.8s
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// suppression window. Purpose: mask track churn (blob briefly drops below
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// min_blob_px, track dies & respawns, re-crosses).
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static const uint32_t CV_CROSSING_COOLDOWN_FRAMES = 5;
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struct CVTrack {
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int id;
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float x, y;
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float spawn_y; // y at track creation — used for directional counting
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bool above_line;
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bool counted; // fires at most once per track (one track = one trip)
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int missed;
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};
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struct CVState {
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uint8_t background[CV_PIXELS];
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bool bg_valid;
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uint32_t last_motion_frame;
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uint32_t frame_index;
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int next_id;
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std::vector<CVTrack> tracks;
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int entries;
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int exits;
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uint32_t last_entry_frame; // 0 = never; frame_index of last counted entry
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uint32_t last_exit_frame; // 0 = never; frame_index of last counted exit
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};
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struct CVResult {
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int entries_delta;
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int exits_delta;
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};
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void cv_init(CVState& state);
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CVResult cv_process(CVState& state, const uint8_t* frame, uint8_t line_pct);
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void cv_reset_counts(CVState& state);
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