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>
65 lines
1.8 KiB
C++
65 lines
1.8 KiB
C++
// firmware/src/main_capture.cpp
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//
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// Frame-dump firmware. Replaces main.cpp when building env:timercam-capture.
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// Streams raw 96x96 grayscale frames at 5 fps over serial (921600 baud) for
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// offline algorithm iteration.
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//
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// Wire format per frame (little-endian):
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// magic uint32 0xDC0FC0DE
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// frame_ix uint32 monotonic counter
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// millis uint32 ms since boot
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// pixels byte[9216] raw grayscale 96x96, row-major
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//
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// No WiFi, no BLE, no CV. Just camera → serial.
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#include <Arduino.h>
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#include "camera.h"
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#include "cv.h" // for CV_PIXELS
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#define LED_PIN 2
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#define CAM_FPS 5
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#define CAM_INTERVAL_MS (1000 / CAM_FPS)
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// Magic chosen from bytes that commonly survive; 'FRM1' ascii.
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// Avoid high bytes 0xA0-AF / 0xD0-DF — observed missing from the CH9102 stream.
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static const uint32_t FRAME_MAGIC = 0x314D5246; // 'FRM1' little-endian on wire
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void setup() {
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Serial.begin(460800);
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pinMode(LED_PIN, OUTPUT);
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digitalWrite(LED_PIN, HIGH);
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delay(500);
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Serial.println("# capture-mode: 460800 baud, 96x96 gray @ 5fps");
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Serial.flush();
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if (!camera_init()) {
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Serial.println("# FATAL: camera init failed");
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while (true) {
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digitalWrite(LED_PIN, !digitalRead(LED_PIN));
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delay(200);
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}
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}
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digitalWrite(LED_PIN, LOW);
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}
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void loop() {
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static uint8_t frame[CV_PIXELS];
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static uint32_t frame_ix = 0;
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uint32_t t0 = millis();
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if (camera_capture_96(frame)) {
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uint32_t ms = millis();
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Serial.write((uint8_t*)&FRAME_MAGIC, 4);
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Serial.write((uint8_t*)&frame_ix, 4);
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Serial.write((uint8_t*)&ms, 4);
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Serial.write(frame, CV_PIXELS);
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frame_ix++;
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digitalWrite(LED_PIN, frame_ix & 1);
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}
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uint32_t elapsed = millis() - t0;
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if (elapsed < CAM_INTERVAL_MS) delay(CAM_INTERVAL_MS - elapsed);
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}
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