Peter Woolery
a37207b6ff
Replace per-track line-crossing counter with a single event state machine
gated by foreground pixel count (ENTER=250, EXIT=150) and finalized by
quiet-exit or timeout. Direction inferred from centroid excursion
(up_score vs down_score) on quiet-exit fires, and from net displacement
(last_c vs first_c) on timeout fires.
Tuning reflects bench data at the intended 7' overhead mount: walkers
produce smaller centroid excursions than originally modelled, so
EXTENT gates, MIN_TRAJ, MAX_FRAMES and REFRACTORY were all relaxed from
their initial guesses. Constants and rationale live in firmware/lib/cv/cv.h.
Bench results (8 isolated walks, 4 entries + 4 exits):
* Event detection: 8/8 (100%)
* Aggregate entries+exits split: 4+4 (matches)
* Per-walk direction labelling: 4/8 (~50%)
Document explicitly that per-walk direction is unreliable at this mount
and that downstream analytics should trust only gross traffic
(entries + exits). Recovering direction would require a physical mount
change or a richer signal; both are out of scope for v1.
Tooling:
* tools/replay_logs.py — replay event state machine against captured
[F] diagnostic lines, for offline tuning without flash-test loops.
* firmware/src/main_capture.cpp + tools/capture_frames.py +
tools/replay_frames.py — raw-frame capture firmware and Python port
of the detector, kept in tree for future iteration even though the
TimerCamera-F serial driver stripped specific byte ranges in testing
and log-based replay became the working path.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
54 lines
1.3 KiB
INI
54 lines
1.3 KiB
INI
; firmware/platformio.ini
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[platformio]
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default_envs = timercam
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[env:timercam]
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platform = espressif32@6.6.0
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board = m5stack-timer-cam
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framework = arduino
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board_build.partitions = partitions_4mb_ota.csv
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build_src_filter = +<*> -<main_capture.cpp>
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build_flags =
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-DBOARD_HAS_PSRAM
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-mfix-esp32-psram-cache-issue
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-DCORE_DEBUG_LEVEL=1
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-DCONFIG_BT_NIMBLE_ENABLED=1
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-DCONFIG_SPIRAM_USE_MALLOC=1
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-DCONFIG_ARDUINO_LOOP_STACK_SIZE=16384
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monitor_speed = 115200
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upload_speed = 115200
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upload_flags = --no-stub
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lib_deps =
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tzapu/WiFiManager@^2.0.17
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bblanchon/ArduinoJson@^7.0.0
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h2zero/NimBLE-Arduino@^1.4.2
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espressif/esp32-camera
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; Frame-capture build. Strips WiFi/BLE/CV/reporter; streams raw 96x96 frames
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; over serial at 921600 baud for offline algorithm iteration.
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[env:timercam-capture]
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platform = espressif32@6.6.0
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board = m5stack-timer-cam
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framework = arduino
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board_build.partitions = partitions_4mb_ota.csv
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build_flags =
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-DBOARD_HAS_PSRAM
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-mfix-esp32-psram-cache-issue
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-DCORE_DEBUG_LEVEL=0
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-DCONFIG_SPIRAM_USE_MALLOC=1
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build_src_filter = -<*> +<main_capture.cpp> +<camera.cpp>
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monitor_speed = 460800
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upload_speed = 115200
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upload_flags = --no-stub
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lib_deps =
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espressif/esp32-camera
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[env:native]
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platform = native
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test_framework = unity
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build_flags =
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-std=c++17
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-DNATIVE_TEST
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lib_deps =
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kochcodes/mbedtls@^3.6.2
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