From 4faeee1a7600fd92e35f73ffca0852c2dde007c5 Mon Sep 17 00:00:00 2001 From: Jason Medeiros Date: Mon, 16 Mar 2026 21:19:45 -0400 Subject: [PATCH 1/8] spatial detection network for depth/ needs testing --- modules/target_tracking/__init__.py | 1 + modules/target_tracking/depthai_detector.py | 99 +++++++++++++++++++++ requirements.txt | 3 +- 3 files changed, 102 insertions(+), 1 deletion(-) create mode 100644 modules/target_tracking/depthai_detector.py diff --git a/modules/target_tracking/__init__.py b/modules/target_tracking/__init__.py index e69de29..603a418 100644 --- a/modules/target_tracking/__init__.py +++ b/modules/target_tracking/__init__.py @@ -0,0 +1 @@ +from .depthai_detector import DepthAIDetector \ No newline at end of file diff --git a/modules/target_tracking/depthai_detector.py b/modules/target_tracking/depthai_detector.py new file mode 100644 index 0000000..1c8cd11 --- /dev/null +++ b/modules/target_tracking/depthai_detector.py @@ -0,0 +1,99 @@ +""" +DepthAI detector implementation using Pipeline 2.0 API. +""" +import depthai as dai +import numpy as np +import cv2 +from .stereo_node import create_stereo_depth + +class DepthAIDetector: + """ + DepthAI detector class using SpatialDetectionNetwork. + """ + def __init__(self, pipeline: "dai.Pipeline"): + self.pipeline = pipeline + self.latest_detections = [] + self.latest_frames = {} + + class DataCollector(dai.node.HostNode): + """ + Host node to collect data from the pipeline and make it available to the detector class. + """ + def __init__(self, detector): + dai.node.HostNode.__init__(self) + self.detector = detector + self.sendProcessingToPipeline(True) + + def build(self, depth: dai.Node.Output, detections: dai.Node.Output, rgb: dai.Node.Output): + self.link_args(depth, detections, rgb) + + def process(self, depthPreview, detections, rgbPreview): + # Store data in the parent detector instance + self.detector.latest_frames["depth"] = depthPreview.getCvFrame() + self.detector.latest_frames["rgb"] = rgbPreview.getCvFrame() + self.detector.latest_detections = detections.detections + + @classmethod + def create(cls, config: dict) -> "tuple[bool, DepthAIDetector | None]": + try: + model_name = config.get("model_path", "yolov6-nano") + size = config.get("input_size", (640, 400)) + depth_source_type = config.get("depth_source", "stereo") + fps = config.get("fps", 30) + + p = dai.Pipeline() + platform = p.getDefaultDevice().getPlatform() + + # Define sources + cam_rgb = p.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_A, sensorFps=fps) + + # Define depth source + if depth_source_type == "stereo": + depth_source = create_stereo_depth(p) + if platform == dai.Platform.RVC2: + depth_source.setOutputSize(*size) + else: + print(f"Invalid depth source: {depth_source_type}") + return False, None + + # Spatial Detection Network + model_description = dai.NNModelDescription(model_name) + spatial_nn = p.create(dai.node.SpatialDetectionNetwork).build( + cam_rgb, depth_source, model_description + ) + + # Settings + spatial_nn.input.setBlocking(False) + spatial_nn.setBoundingBoxScaleFactor(0.5) + spatial_nn.setDepthLowerThreshold(100) + spatial_nn.setDepthUpperThreshold(5000) + + # Create detector instance + detector = cls(p) + + # Use HostNode to collect data + collector = p.create(cls.DataCollector, detector) + collector.build( + spatial_nn.passthroughDepth, + spatial_nn.out, + spatial_nn.passthrough, + ) + + # Start the pipeline in the background + p.start() + + return True, detector + except Exception as e: + print(f"Error creating DepthAIDetector: {e}") + return False, None + + def run(self) -> "tuple[bool, list, dict]": + """ + Returns the latest detections and frames collected by the HostNode. + """ + # Since the pipeline is running in the background, we just return the latest captured data. + return True, self.latest_detections, self.latest_frames + + def __del__(self): + if hasattr(self, 'pipeline'): + self.pipeline.stop() \ No newline at end of file diff --git a/requirements.txt b/requirements.txt index 2309fad..0aa13df 100644 --- a/requirements.txt +++ b/requirements.txt @@ -1,4 +1,5 @@ - black==24.2.0 flake8-annotations==3.0.1 pylint==3.0.3 +ultralytics +depthai \ No newline at end of file From 57b8c89bae719615f40bf1041941c30038dfde21 Mon Sep 17 00:00:00 2001 From: Tq Date: Thu, 26 Mar 2026 17:11:19 -0400 Subject: [PATCH 2/8] Add spatial detection and object tracking configuration - Introduced spatial detection settings in config.yaml, including model path and thresholds. - Updated main_2025.py to load and utilize spatial detection and object tracking components in the pipeline. - Added blobconverter and pyyaml as dependencies in requirements-pytorch.txt. Co-Authored-By: Yujie Meng <192458226+Yujie-Meng@users.noreply.github.com> Co-Authored-By: Yujie Meng Co-Authored-By: Yujie --- .gitignore | 2 +- config.yaml | 13 ++ main_2025.py | 68 +++++- .../target_tracking/object_tracker_node.py | 49 +++++ .../target_tracking/spatial_detection_node.py | 89 ++++++++ requirements-pytorch.txt | 4 +- tests/unit/test_pipeline_nodes.py | 206 ++++++++++++++++++ 7 files changed, 428 insertions(+), 3 deletions(-) create mode 100644 modules/target_tracking/object_tracker_node.py create mode 100644 modules/target_tracking/spatial_detection_node.py create mode 100644 tests/unit/test_pipeline_nodes.py diff --git a/.gitignore b/.gitignore index e8e5857..2f3f09b 100644 --- a/.gitignore +++ b/.gitignore @@ -1,7 +1,7 @@ # IDEs .idea/ .vscode/ - +*.DS_Store # Python __pycache__/ venv/ diff --git a/config.yaml b/config.yaml index 4b0d967..b8026e7 100644 --- a/config.yaml +++ b/config.yaml @@ -86,3 +86,16 @@ communications: auto_landing: enabled: true + +spatial_detection: + # Path to a custom .blob model file for OAK-D. + # Set to null to auto-download the default YOLOv4-tiny (416x416, COCO 80 classes). + # To use a custom model: train with YOLO, export to ONNX, convert via blobconverter. + model_path: null + confidence_threshold: 0.5 + iou_threshold: 0.5 + depth_lower_mm: 100 # Ignore detections closer than this (mm) + depth_upper_mm: 10000 # Ignore detections farther than this (mm) + +object_tracker: + target_class_id: 0 # COCO class 0 = person diff --git a/main_2025.py b/main_2025.py index 1b7c348..57c8fef 100644 --- a/main_2025.py +++ b/main_2025.py @@ -4,12 +4,78 @@ import pathlib +import depthai as dai +import yaml + +from modules.target_tracking.stereo_node import create_stereo_depth +from modules.target_tracking.spatial_detection_node import create_spatial_detection_network +from modules.target_tracking.object_tracker_node import create_object_tracker + CONFIG_FILE_PATH = pathlib.Path("config.yaml") +# Queue settings +OUTPUT_QUEUE_SIZE = 4 + def main() -> int: - """Main Function for target tracking""" + """Main function for target tracking pipeline.""" + # Load config + with open(CONFIG_FILE_PATH, "r", encoding="utf-8") as config_file: + config = yaml.safe_load(config_file) + + spatial_config = config.get("spatial_detection", {}) + model_path = spatial_config.get("model_path") + + # Build DepthAI pipeline + pipeline = dai.Pipeline() + + # 1. Stereo Depth Node (mono cams → depth aligned to RGB) + stereo = create_stereo_depth(pipeline) + + # 2. Spatial Detection Network (RGB cam + stereo depth → 3D detections) + spatial_detection, color_cam = create_spatial_detection_network( + pipeline, stereo, model_path=model_path + ) + + # 3. Object Tracker (detections → tracked targets with persistent IDs) + tracker = create_object_tracker(pipeline, spatial_detection) + + # --- Output XLinks --- + xout_tracker = pipeline.create(dai.node.XLinkOut) + xout_tracker.setStreamName("tracklets") + tracker.out.link(xout_tracker.input) + + xout_rgb = pipeline.create(dai.node.XLinkOut) + xout_rgb.setStreamName("rgb") + color_cam.video.link(xout_rgb.input) + + # --- Run pipeline --- + with dai.Device(pipeline) as device: + tracklet_queue = device.getOutputQueue("tracklets", maxSize=OUTPUT_QUEUE_SIZE, blocking=False) + + print("Pipeline started. Tracking humans (COCO class 0)...") + + while True: + tracklets_msg = tracklet_queue.get() + + for tracklet in tracklets_msg.tracklets: + if tracklet.status != dai.Tracklet.TrackingStatus.TRACKED: + continue + + roi = tracklet.roi.denormalize( + tracklets_msg.getWidth(), tracklets_msg.getHeight() + ) + x_mm = tracklet.spatialCoordinates.x + y_mm = tracklet.spatialCoordinates.y + z_mm = tracklet.spatialCoordinates.z + + print( + f"Target ID {tracklet.id}: " + f"xyz=({x_mm:.0f}mm, {y_mm:.0f}mm, {z_mm:.0f}mm) " + f"bbox=({int(roi.topLeft().x)}, {int(roi.topLeft().y)}, " + f"{int(roi.bottomRight().x)}, {int(roi.bottomRight().y)})" + ) return 0 diff --git a/modules/target_tracking/object_tracker_node.py b/modules/target_tracking/object_tracker_node.py new file mode 100644 index 0000000..b1c5935 --- /dev/null +++ b/modules/target_tracking/object_tracker_node.py @@ -0,0 +1,49 @@ +""" +Module for initializing the Object Tracker node. +Wraps DepthAI's ObjectTracker to track detections across frames with persistent IDs. +""" + +import depthai as dai + + +# Track only class 0 (person in COCO dataset) +PERSON_CLASS_ID = 0 + +# ZERO_TERM_COLOR_HISTOGRAM: lightweight, works without re-identification network +TRACKER_TYPE = dai.TrackerType.ZERO_TERM_COLOR_HISTOGRAM + +# SMALLEST_ID: reuse lowest available ID, keeps IDs stable across frames +ASSIGNMENT_POLICY = dai.TrackerIdAssignmentPolicy.SMALLEST_ID + + +def create_object_tracker( + pipeline: dai.Pipeline, + spatial_detection: dai.node.YoloSpatialDetectionNetwork, +) -> dai.node.ObjectTracker: + """ + Creates the ObjectTracker node and links it to the spatial detection network. + + The tracker receives detection frames and bounding boxes from the spatial detection + network, then assigns persistent IDs to each target across frames. + + Args: + pipeline: The DepthAI pipeline object. + spatial_detection: The configured YoloSpatialDetectionNetwork node. + + Returns: + Configured ObjectTracker node. + """ + tracker = pipeline.create(dai.node.ObjectTracker) + + # Only track humans (COCO class 0) + tracker.setDetectionLabelsToTrack([PERSON_CLASS_ID]) + tracker.setTrackerType(TRACKER_TYPE) + tracker.setTrackerIdAssignmentPolicy(ASSIGNMENT_POLICY) + + # Link spatial detection outputs → tracker inputs + # passthrough provides the preview frame used to extract appearance features + spatial_detection.passthrough.link(tracker.inputTrackerFrame) + spatial_detection.passthrough.link(tracker.inputDetectionFrame) + spatial_detection.out.link(tracker.inputDetections) + + return tracker diff --git a/modules/target_tracking/spatial_detection_node.py b/modules/target_tracking/spatial_detection_node.py new file mode 100644 index 0000000..adc31fa --- /dev/null +++ b/modules/target_tracking/spatial_detection_node.py @@ -0,0 +1,89 @@ +""" +Module for initializing the Spatial Detection Network. +Integrates the stereo depth node with YOLO for 3D object localization. +""" + +import depthai as dai +import blobconverter + + +# YOLOv4-tiny input resolution (must match model training size) +YOLO_INPUT_SIZE = 416 + +# Detection thresholds +CONFIDENCE_THRESHOLD = 0.5 +IOU_THRESHOLD = 0.5 + +# COCO dataset: 80 classes, YOLOv4-tiny anchor config +NUM_CLASSES = 80 +COORDINATE_SIZE = 4 +ANCHORS = [10, 14, 23, 27, 37, 58, 81, 82, 135, 169, 344, 319] +ANCHOR_MASKS = {"side26": [1, 2, 3], "side13": [3, 4, 5]} + +# Depth ROI scale (fraction of bounding box used to sample depth) +BOUNDING_BOX_SCALE_FACTOR = 0.5 + +# Valid depth range in mm +DEPTH_LOWER_THRESHOLD_MM = 100 +DEPTH_UPPER_THRESHOLD_MM = 10000 + + +def create_spatial_detection_network( + pipeline: dai.Pipeline, + stereo: dai.node.StereoDepth, + model_path: str = None, +) -> "tuple[dai.node.YoloSpatialDetectionNetwork, dai.node.ColorCamera]": + """ + Creates the YoloSpatialDetectionNetwork and links it with stereo depth + color camera. + + The color camera provides RGB frames for YOLO detection. + The stereo depth node provides per-pixel depth aligned to the RGB camera. + The network fuses both to produce detections with (x, y, z) spatial coordinates. + + Args: + pipeline: The DepthAI pipeline object. + stereo: Configured StereoDepth node (from stereo_node.py, depth aligned to RGB). + model_path: Path to a custom .blob model file. + If None, downloads the default YOLOv4-tiny from the DepthAI model zoo. + + Returns: + Tuple of (spatial_detection_network, color_camera) nodes. + """ + # --- 1. Color Camera --- + color_cam = pipeline.create(dai.node.ColorCamera) + color_cam.setPreviewSize(YOLO_INPUT_SIZE, YOLO_INPUT_SIZE) + color_cam.setInterleaved(False) + color_cam.setColorOrder(dai.ColorCameraProperties.ColorOrder.BGR) + color_cam.setFps(30) + + # --- 2. Spatial Detection Network --- + spatial_detection = pipeline.create(dai.node.YoloSpatialDetectionNetwork) + + # Load blob model (download default if no custom path given) + if model_path is None: + blob_path = blobconverter.from_zoo(name="yolo-v4-tiny-tf", shaves=6) + else: + blob_path = model_path + + spatial_detection.setBlobPath(blob_path) + + # Detection settings + spatial_detection.setConfidenceThreshold(CONFIDENCE_THRESHOLD) + spatial_detection.setIouThreshold(IOU_THRESHOLD) + + # YOLO architecture settings + spatial_detection.setNumClasses(NUM_CLASSES) + spatial_detection.setCoordinateSize(COORDINATE_SIZE) + spatial_detection.setAnchors(ANCHORS) + spatial_detection.setAnchorMasks(ANCHOR_MASKS) + + # Depth fusion settings + spatial_detection.setBoundingBoxScaleFactor(BOUNDING_BOX_SCALE_FACTOR) + spatial_detection.setDepthLowerThreshold(DEPTH_LOWER_THRESHOLD_MM) + spatial_detection.setDepthUpperThreshold(DEPTH_UPPER_THRESHOLD_MM) + + # --- 3. Linking --- + color_cam.preview.link(spatial_detection.input) + stereo.depth.link(spatial_detection.inputDepth) + + return spatial_detection, color_cam diff --git a/requirements-pytorch.txt b/requirements-pytorch.txt index b805223..8bb7bdf 100644 --- a/requirements-pytorch.txt +++ b/requirements-pytorch.txt @@ -1,4 +1,6 @@ # Runtime dependencies for target tracking pipeline depthai>=2.24.0 -pymavlink>=2.4.40 \ No newline at end of file +pymavlink>=2.4.40 +blobconverter>=1.4.0 +pyyaml>=6.0 \ No newline at end of file diff --git a/tests/unit/test_pipeline_nodes.py b/tests/unit/test_pipeline_nodes.py new file mode 100644 index 0000000..88a17cc --- /dev/null +++ b/tests/unit/test_pipeline_nodes.py @@ -0,0 +1,206 @@ +""" +Unit tests for the target tracking pipeline nodes. +Mocks depthai and blobconverter so no OAK-D hardware is required. +""" + +import sys +from unittest.mock import MagicMock, call, patch + +import pytest + + +# --------------------------------------------------------------------------- +# Mock depthai + blobconverter BEFORE importing any project modules that +# import them at module level. This must happen at collection time. +# --------------------------------------------------------------------------- +_dai = MagicMock() + +# Give TrackerType / TrackerIdAssignmentPolicy real-ish sentinel values so +# the modules can assign them to constants without blowing up. +_dai.TrackerType.ZERO_TERM_COLOR_HISTOGRAM = "ZERO_TERM_COLOR_HISTOGRAM" +_dai.TrackerIdAssignmentPolicy.SMALLEST_ID = "SMALLEST_ID" +_dai.MonoCameraProperties.SensorResolution.THE_400_P = "400P" +_dai.ColorCameraProperties.ColorOrder.BGR = "BGR" +_dai.CameraBoardSocket.LEFT = "LEFT" +_dai.CameraBoardSocket.RIGHT = "RIGHT" +_dai.CameraBoardSocket.RGB = "RGB" + +sys.modules["depthai"] = _dai +sys.modules["blobconverter"] = MagicMock() + +# Now safe to import project modules +from modules.target_tracking.stereo_node import create_stereo_depth # noqa: E402 +from modules.target_tracking.spatial_detection_node import ( # noqa: E402 + create_spatial_detection_network, +) +from modules.target_tracking.object_tracker_node import create_object_tracker # noqa: E402 + + +# --------------------------------------------------------------------------- +# Helpers +# --------------------------------------------------------------------------- + + +def _make_pipeline(): + """Return a fresh mock pipeline whose create() returns distinct mocks.""" + pipeline = MagicMock() + pipeline.create.side_effect = lambda node_type: MagicMock(name=str(node_type)) + return pipeline + + +# --------------------------------------------------------------------------- +# stereo_node tests +# --------------------------------------------------------------------------- + + +class TestCreateStereoDepth: + def test_returns_stereo_node(self): + pipeline = _make_pipeline() + stereo = create_stereo_depth(pipeline) + assert stereo is not None + + def test_creates_three_nodes(self): + """Expects: mono_left, mono_right, stereo = 3 pipeline.create() calls.""" + pipeline = _make_pipeline() + create_stereo_depth(pipeline) + assert pipeline.create.call_count == 3 + + def test_depth_aligned_to_rgb(self): + pipeline = _make_pipeline() + stereo = create_stereo_depth(pipeline) + stereo.setDepthAlign.assert_called_once_with(_dai.CameraBoardSocket.RGB) + + def test_quality_flags_set(self): + pipeline = _make_pipeline() + stereo = create_stereo_depth(pipeline) + stereo.setSubpixel.assert_called_once_with(True) + stereo.setLeftRightCheck.assert_called_once_with(True) + stereo.setExtendedDisparity.assert_called_once_with(False) + + def test_mono_cameras_linked_to_stereo(self): + """mono_left.out.link and mono_right.out.link must each be called once.""" + nodes = [] + pipeline = MagicMock() + pipeline.create.side_effect = lambda _: (nodes.append(MagicMock()) or nodes[-1]) + + create_stereo_depth(pipeline) + + # nodes[0]=mono_left, nodes[1]=mono_right, nodes[2]=stereo + mono_left, mono_right, _ = nodes + mono_left.out.link.assert_called_once() + mono_right.out.link.assert_called_once() + + +# --------------------------------------------------------------------------- +# spatial_detection_node tests +# --------------------------------------------------------------------------- + + +class TestCreateSpatialDetectionNetwork: + def test_returns_network_and_camera(self): + pipeline = _make_pipeline() + stereo = MagicMock() + network, cam = create_spatial_detection_network(pipeline, stereo) + assert network is not None + assert cam is not None + + def test_creates_two_nodes(self): + """Expects: color_cam + YoloSpatialDetectionNetwork = 2 calls.""" + pipeline = _make_pipeline() + stereo = MagicMock() + create_spatial_detection_network(pipeline, stereo) + assert pipeline.create.call_count == 2 + + def test_color_camera_preview_size(self): + pipeline = _make_pipeline() + stereo = MagicMock() + _, cam = create_spatial_detection_network(pipeline, stereo) + cam.setPreviewSize.assert_called_once_with(416, 416) + + def test_confidence_threshold_set(self): + pipeline = _make_pipeline() + stereo = MagicMock() + network, _ = create_spatial_detection_network(pipeline, stereo) + network.setConfidenceThreshold.assert_called_once_with(0.5) + + def test_depth_linked_to_network(self): + """stereo.depth.link(spatial_detection.inputDepth) must be called.""" + pipeline = _make_pipeline() + stereo = MagicMock() + network, _ = create_spatial_detection_network(pipeline, stereo) + stereo.depth.link.assert_called_once_with(network.inputDepth) + + def test_color_preview_linked_to_network(self): + pipeline = _make_pipeline() + stereo = MagicMock() + network, cam = create_spatial_detection_network(pipeline, stereo) + cam.preview.link.assert_called_once_with(network.input) + + def test_custom_model_path_used(self): + pipeline = _make_pipeline() + stereo = MagicMock() + network, _ = create_spatial_detection_network( + pipeline, stereo, model_path="/fake/model.blob" + ) + network.setBlobPath.assert_called_once_with("/fake/model.blob") + + def test_default_model_downloaded_when_no_path(self): + import blobconverter + + blobconverter.from_zoo.reset_mock() + blobconverter.from_zoo.return_value = "/mocked/zoo_model.blob" + pipeline = _make_pipeline() + stereo = MagicMock() + network, _ = create_spatial_detection_network(pipeline, stereo, model_path=None) + blobconverter.from_zoo.assert_called_once() + network.setBlobPath.assert_called_once_with("/mocked/zoo_model.blob") + + +# --------------------------------------------------------------------------- +# object_tracker_node tests +# --------------------------------------------------------------------------- + + +class TestCreateObjectTracker: + def test_returns_tracker(self): + pipeline = _make_pipeline() + spatial_detection = MagicMock() + tracker = create_object_tracker(pipeline, spatial_detection) + assert tracker is not None + + def test_creates_one_node(self): + pipeline = _make_pipeline() + spatial_detection = MagicMock() + create_object_tracker(pipeline, spatial_detection) + assert pipeline.create.call_count == 1 + + def test_tracks_only_person_class(self): + pipeline = _make_pipeline() + spatial_detection = MagicMock() + tracker = create_object_tracker(pipeline, spatial_detection) + tracker.setDetectionLabelsToTrack.assert_called_once_with([0]) + + def test_tracker_type_set(self): + pipeline = _make_pipeline() + spatial_detection = MagicMock() + tracker = create_object_tracker(pipeline, spatial_detection) + tracker.setTrackerType.assert_called_once_with( + _dai.TrackerType.ZERO_TERM_COLOR_HISTOGRAM + ) + + def test_detections_linked_to_tracker(self): + """spatial_detection.out.link(tracker.inputDetections) must be called.""" + pipeline = _make_pipeline() + spatial_detection = MagicMock() + tracker = create_object_tracker(pipeline, spatial_detection) + spatial_detection.out.link.assert_called_once_with(tracker.inputDetections) + + def test_passthrough_linked_twice(self): + """passthrough links to both inputTrackerFrame and inputDetectionFrame.""" + pipeline = _make_pipeline() + spatial_detection = MagicMock() + tracker = create_object_tracker(pipeline, spatial_detection) + assert spatial_detection.passthrough.link.call_count == 2 + link_targets = {c.args[0] for c in spatial_detection.passthrough.link.call_args_list} + assert tracker.inputTrackerFrame in link_targets + assert tracker.inputDetectionFrame in link_targets From 6ce71085022ba85d57b15dafb7db654494398a0e Mon Sep 17 00:00:00 2001 From: Tq Date: Sun, 29 Mar 2026 10:39:12 -0400 Subject: [PATCH 3/8] Port frame capture from stereodepth; remove blobconverter fallback MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - Fix dead xout_rgb: switch color_cam.video → preview so bbox coords align - Add rgb_queue read + cv2 bbox overlay and imshow in main loop - Make model_path required in create_spatial_detection_network (no fallback) - Drop blobconverter dep; add opencv-python to requirements-pytorch.txt - Update config.yaml: model_path now required, documents conversion path Co-authored-by: Yujie Meng <192458226+Yujie-Meng@users.noreply.github.com> Co-authored-by: Yujie Meng Co-authored-by: Yujie --- config.yaml | 7 ++- main_2025.py | 45 +++++++++++++------ .../target_tracking/spatial_detection_node.py | 14 ++---- requirements-pytorch.txt | 2 +- 4 files changed, 39 insertions(+), 29 deletions(-) diff --git a/config.yaml b/config.yaml index b8026e7..bac89d9 100644 --- a/config.yaml +++ b/config.yaml @@ -88,10 +88,9 @@ auto_landing: enabled: true spatial_detection: - # Path to a custom .blob model file for OAK-D. - # Set to null to auto-download the default YOLOv4-tiny (416x416, COCO 80 classes). - # To use a custom model: train with YOLO, export to ONNX, convert via blobconverter. - model_path: null + # Path to the .blob model file for OAK-D (required). + # Train with YOLO, export to ONNX, convert via tools.luxonis.com/model-conversion. + model_path: "models/yolov4-tiny-coco-416x416.blob" confidence_threshold: 0.5 iou_threshold: 0.5 depth_lower_mm: 100 # Ignore detections closer than this (mm) diff --git a/main_2025.py b/main_2025.py index 57c8fef..c1af0f0 100644 --- a/main_2025.py +++ b/main_2025.py @@ -4,6 +4,7 @@ import pathlib +import cv2 import depthai as dai import yaml @@ -20,23 +21,18 @@ def main() -> int: """Main function for target tracking pipeline.""" - # Load config with open(CONFIG_FILE_PATH, "r", encoding="utf-8") as config_file: config = yaml.safe_load(config_file) - spatial_config = config.get("spatial_detection", {}) - model_path = spatial_config.get("model_path") + model_path: str = config["spatial_detection"]["model_path"] - # Build DepthAI pipeline pipeline = dai.Pipeline() # 1. Stereo Depth Node (mono cams → depth aligned to RGB) stereo = create_stereo_depth(pipeline) # 2. Spatial Detection Network (RGB cam + stereo depth → 3D detections) - spatial_detection, color_cam = create_spatial_detection_network( - pipeline, stereo, model_path=model_path - ) + spatial_detection, color_cam = create_spatial_detection_network(pipeline, stereo, model_path) # 3. Object Tracker (detections → tracked targets with persistent IDs) tracker = create_object_tracker(pipeline, spatial_detection) @@ -46,26 +42,27 @@ def main() -> int: xout_tracker.setStreamName("tracklets") tracker.out.link(xout_tracker.input) + # Link preview (same 416x416 frame the NN ran on) so bbox coords align xout_rgb = pipeline.create(dai.node.XLinkOut) xout_rgb.setStreamName("rgb") - color_cam.video.link(xout_rgb.input) + color_cam.preview.link(xout_rgb.input) - # --- Run pipeline --- with dai.Device(pipeline) as device: tracklet_queue = device.getOutputQueue("tracklets", maxSize=OUTPUT_QUEUE_SIZE, blocking=False) + rgb_queue = device.getOutputQueue("rgb", maxSize=OUTPUT_QUEUE_SIZE, blocking=False) print("Pipeline started. Tracking humans (COCO class 0)...") while True: tracklets_msg = tracklet_queue.get() + frame_msg = rgb_queue.tryGet() + frame = frame_msg.getCvFrame() if frame_msg is not None else None for tracklet in tracklets_msg.tracklets: if tracklet.status != dai.Tracklet.TrackingStatus.TRACKED: continue - roi = tracklet.roi.denormalize( - tracklets_msg.getWidth(), tracklets_msg.getHeight() - ) + roi = tracklet.roi.denormalize(tracklets_msg.getWidth(), tracklets_msg.getHeight()) x_mm = tracklet.spatialCoordinates.x y_mm = tracklet.spatialCoordinates.y z_mm = tracklet.spatialCoordinates.z @@ -77,6 +74,29 @@ def main() -> int: f"{int(roi.bottomRight().x)}, {int(roi.bottomRight().y)})" ) + if frame is not None: + cv2.rectangle( + frame, + (int(roi.topLeft().x), int(roi.topLeft().y)), + (int(roi.bottomRight().x), int(roi.bottomRight().y)), + (0, 255, 0), + 2, + ) + cv2.putText( + frame, + f"ID {tracklet.id} | {z_mm:.0f}mm", + (int(roi.topLeft().x), int(roi.topLeft().y) - 8), + cv2.FONT_HERSHEY_SIMPLEX, + 0.5, + (0, 255, 0), + 1, + ) + + if frame is not None: + cv2.imshow("Target Tracking", frame) + if cv2.waitKey(1) == ord("q"): + break + return 0 @@ -84,5 +104,4 @@ def main() -> int: result_main = main() if result_main < 0: print(f"ERROR: Status code: {result_main}") - print("Done!") diff --git a/modules/target_tracking/spatial_detection_node.py b/modules/target_tracking/spatial_detection_node.py index adc31fa..1eaa7a5 100644 --- a/modules/target_tracking/spatial_detection_node.py +++ b/modules/target_tracking/spatial_detection_node.py @@ -4,7 +4,6 @@ """ import depthai as dai -import blobconverter # YOLOv4-tiny input resolution (must match model training size) @@ -31,7 +30,7 @@ def create_spatial_detection_network( pipeline: dai.Pipeline, stereo: dai.node.StereoDepth, - model_path: str = None, + model_path: str, ) -> "tuple[dai.node.YoloSpatialDetectionNetwork, dai.node.ColorCamera]": """ Creates the YoloSpatialDetectionNetwork and links it with stereo depth + color camera. @@ -43,8 +42,7 @@ def create_spatial_detection_network( Args: pipeline: The DepthAI pipeline object. stereo: Configured StereoDepth node (from stereo_node.py, depth aligned to RGB). - model_path: Path to a custom .blob model file. - If None, downloads the default YOLOv4-tiny from the DepthAI model zoo. + model_path: Path to the .blob model file. Set via spatial_detection.model_path in config.yaml. Returns: Tuple of (spatial_detection_network, color_camera) nodes. @@ -59,13 +57,7 @@ def create_spatial_detection_network( # --- 2. Spatial Detection Network --- spatial_detection = pipeline.create(dai.node.YoloSpatialDetectionNetwork) - # Load blob model (download default if no custom path given) - if model_path is None: - blob_path = blobconverter.from_zoo(name="yolo-v4-tiny-tf", shaves=6) - else: - blob_path = model_path - - spatial_detection.setBlobPath(blob_path) + spatial_detection.setBlobPath(model_path) # Detection settings spatial_detection.setConfidenceThreshold(CONFIDENCE_THRESHOLD) diff --git a/requirements-pytorch.txt b/requirements-pytorch.txt index 8bb7bdf..fb9cf38 100644 --- a/requirements-pytorch.txt +++ b/requirements-pytorch.txt @@ -1,6 +1,6 @@ # Runtime dependencies for target tracking pipeline depthai>=2.24.0 +opencv-python>=4.9.0 pymavlink>=2.4.40 -blobconverter>=1.4.0 pyyaml>=6.0 \ No newline at end of file From 59c9103769a448488730af986407f1d67e46797f Mon Sep 17 00:00:00 2001 From: Tq Date: Wed, 1 Apr 2026 18:59:16 -0400 Subject: [PATCH 4/8] Migrate pipeline from depthai 2.x to 3.x (Pipeline 2.0) Replace deprecated MonoCamera/ColorCamera with Camera.build(), YoloSpatialDetectionNetwork with SpatialDetectionNetwork.build() using Luxonis model zoo, XLinkOut with createOutputQueue(), and dai.Device with dai.Pipeline context manager. Co-authored-by: Yujie Meng <192458226+Yujie-Meng@users.noreply.github.com> Co-authored-by: Yujie Meng Co-authored-by: Yujie --- .gitignore | 11 +++ config.yaml | 6 +- main_2025.py | 92 ++++++++----------- .../target_tracking/object_tracker_node.py | 8 +- .../target_tracking/spatial_detection_node.py | 59 +++--------- modules/target_tracking/stereo_node.py | 38 ++------ requirements-pytorch.txt | 4 +- 7 files changed, 76 insertions(+), 142 deletions(-) diff --git a/.gitignore b/.gitignore index 2f3f09b..14908ae 100644 --- a/.gitignore +++ b/.gitignore @@ -2,9 +2,11 @@ .idea/ .vscode/ *.DS_Store + # Python __pycache__/ venv/ +venv_win/ # Logging logs/ @@ -12,3 +14,12 @@ logs/ # Pytorch and Ultralytics *.pt *.pth + +# Model blobs (large binaries, download via scripts/download_model.py) +models/ + +# Cache +.cache/ + +# Context/prompt files +*.txt \ No newline at end of file diff --git a/config.yaml b/config.yaml index bac89d9..ba6a101 100644 --- a/config.yaml +++ b/config.yaml @@ -88,11 +88,9 @@ auto_landing: enabled: true spatial_detection: - # Path to the .blob model file for OAK-D (required). - # Train with YOLO, export to ONNX, convert via tools.luxonis.com/model-conversion. - model_path: "models/yolov4-tiny-coco-416x416.blob" + # Luxonis model zoo name. Auto-downloaded on first run, cached after. + model_name: "yolov6-nano" confidence_threshold: 0.5 - iou_threshold: 0.5 depth_lower_mm: 100 # Ignore detections closer than this (mm) depth_upper_mm: 10000 # Ignore detections farther than this (mm) diff --git a/main_2025.py b/main_2025.py index c1af0f0..f3baeba 100644 --- a/main_2025.py +++ b/main_2025.py @@ -1,5 +1,6 @@ """ -for target tracking +Target tracking pipeline for OAK-D. +Runs YOLOv4-tiny spatial detection + object tracking on-device. """ import pathlib @@ -14,55 +15,36 @@ CONFIG_FILE_PATH = pathlib.Path("config.yaml") - -# Queue settings OUTPUT_QUEUE_SIZE = 4 def main() -> int: - """Main function for target tracking pipeline.""" with open(CONFIG_FILE_PATH, "r", encoding="utf-8") as config_file: config = yaml.safe_load(config_file) - model_path: str = config["spatial_detection"]["model_path"] - - pipeline = dai.Pipeline() - - # 1. Stereo Depth Node (mono cams → depth aligned to RGB) - stereo = create_stereo_depth(pipeline) - - # 2. Spatial Detection Network (RGB cam + stereo depth → 3D detections) - spatial_detection, color_cam = create_spatial_detection_network(pipeline, stereo, model_path) - - # 3. Object Tracker (detections → tracked targets with persistent IDs) - tracker = create_object_tracker(pipeline, spatial_detection) + model_name: str = config["spatial_detection"]["model_name"] - # --- Output XLinks --- - xout_tracker = pipeline.create(dai.node.XLinkOut) - xout_tracker.setStreamName("tracklets") - tracker.out.link(xout_tracker.input) + with dai.Pipeline() as pipeline: + stereo = create_stereo_depth(pipeline) + spatial_detection = create_spatial_detection_network(pipeline, stereo, model_name) + tracker = create_object_tracker(pipeline, spatial_detection) - # Link preview (same 416x416 frame the NN ran on) so bbox coords align - xout_rgb = pipeline.create(dai.node.XLinkOut) - xout_rgb.setStreamName("rgb") - color_cam.preview.link(xout_rgb.input) + tracklet_queue = tracker.out.createOutputQueue(maxSize=OUTPUT_QUEUE_SIZE, blocking=False) + preview_queue = tracker.passthroughTrackerFrame.createOutputQueue( + maxSize=OUTPUT_QUEUE_SIZE, blocking=False + ) - with dai.Device(pipeline) as device: - tracklet_queue = device.getOutputQueue("tracklets", maxSize=OUTPUT_QUEUE_SIZE, blocking=False) - rgb_queue = device.getOutputQueue("rgb", maxSize=OUTPUT_QUEUE_SIZE, blocking=False) - - print("Pipeline started. Tracking humans (COCO class 0)...") - - while True: + pipeline.start() + while pipeline.isRunning(): tracklets_msg = tracklet_queue.get() - frame_msg = rgb_queue.tryGet() - frame = frame_msg.getCvFrame() if frame_msg is not None else None + frame_msg = preview_queue.get() + frame = frame_msg.getCvFrame() for tracklet in tracklets_msg.tracklets: if tracklet.status != dai.Tracklet.TrackingStatus.TRACKED: continue - roi = tracklet.roi.denormalize(tracklets_msg.getWidth(), tracklets_msg.getHeight()) + roi = tracklet.roi.denormalize(frame.shape[1], frame.shape[0]) x_mm = tracklet.spatialCoordinates.x y_mm = tracklet.spatialCoordinates.y z_mm = tracklet.spatialCoordinates.z @@ -74,28 +56,26 @@ def main() -> int: f"{int(roi.bottomRight().x)}, {int(roi.bottomRight().y)})" ) - if frame is not None: - cv2.rectangle( - frame, - (int(roi.topLeft().x), int(roi.topLeft().y)), - (int(roi.bottomRight().x), int(roi.bottomRight().y)), - (0, 255, 0), - 2, - ) - cv2.putText( - frame, - f"ID {tracklet.id} | {z_mm:.0f}mm", - (int(roi.topLeft().x), int(roi.topLeft().y) - 8), - cv2.FONT_HERSHEY_SIMPLEX, - 0.5, - (0, 255, 0), - 1, - ) - - if frame is not None: - cv2.imshow("Target Tracking", frame) - if cv2.waitKey(1) == ord("q"): - break + cv2.rectangle( + frame, + (int(roi.topLeft().x), int(roi.topLeft().y)), + (int(roi.bottomRight().x), int(roi.bottomRight().y)), + (0, 255, 0), + 2, + ) + cv2.putText( + frame, + f"ID {tracklet.id} | {z_mm:.0f}mm", + (int(roi.topLeft().x), int(roi.topLeft().y) - 8), + cv2.FONT_HERSHEY_SIMPLEX, + 0.5, + (0, 255, 0), + 1, + ) + + cv2.imshow("Target Tracking", frame) + if cv2.waitKey(1) == ord("q"): + break return 0 diff --git a/modules/target_tracking/object_tracker_node.py b/modules/target_tracking/object_tracker_node.py index b1c5935..d82a6d1 100644 --- a/modules/target_tracking/object_tracker_node.py +++ b/modules/target_tracking/object_tracker_node.py @@ -18,17 +18,14 @@ def create_object_tracker( pipeline: dai.Pipeline, - spatial_detection: dai.node.YoloSpatialDetectionNetwork, + spatial_detection: dai.node.SpatialDetectionNetwork, ) -> dai.node.ObjectTracker: """ Creates the ObjectTracker node and links it to the spatial detection network. - The tracker receives detection frames and bounding boxes from the spatial detection - network, then assigns persistent IDs to each target across frames. - Args: pipeline: The DepthAI pipeline object. - spatial_detection: The configured YoloSpatialDetectionNetwork node. + spatial_detection: The configured SpatialDetectionNetwork node. Returns: Configured ObjectTracker node. @@ -40,7 +37,6 @@ def create_object_tracker( tracker.setTrackerType(TRACKER_TYPE) tracker.setTrackerIdAssignmentPolicy(ASSIGNMENT_POLICY) - # Link spatial detection outputs → tracker inputs # passthrough provides the preview frame used to extract appearance features spatial_detection.passthrough.link(tracker.inputTrackerFrame) spatial_detection.passthrough.link(tracker.inputDetectionFrame) diff --git a/modules/target_tracking/spatial_detection_node.py b/modules/target_tracking/spatial_detection_node.py index 1eaa7a5..b6d062a 100644 --- a/modules/target_tracking/spatial_detection_node.py +++ b/modules/target_tracking/spatial_detection_node.py @@ -6,18 +6,8 @@ import depthai as dai -# YOLOv4-tiny input resolution (must match model training size) -YOLO_INPUT_SIZE = 416 - # Detection thresholds CONFIDENCE_THRESHOLD = 0.5 -IOU_THRESHOLD = 0.5 - -# COCO dataset: 80 classes, YOLOv4-tiny anchor config -NUM_CLASSES = 80 -COORDINATE_SIZE = 4 -ANCHORS = [10, 14, 23, 27, 37, 58, 81, 82, 135, 169, 344, 319] -ANCHOR_MASKS = {"side26": [1, 2, 3], "side13": [3, 4, 5]} # Depth ROI scale (fraction of bounding box used to sample depth) BOUNDING_BOX_SCALE_FACTOR = 0.5 @@ -30,52 +20,29 @@ def create_spatial_detection_network( pipeline: dai.Pipeline, stereo: dai.node.StereoDepth, - model_path: str, -) -> "tuple[dai.node.YoloSpatialDetectionNetwork, dai.node.ColorCamera]": + model_name: str, +) -> dai.node.SpatialDetectionNetwork: """ - Creates the YoloSpatialDetectionNetwork and links it with stereo depth + color camera. - - The color camera provides RGB frames for YOLO detection. - The stereo depth node provides per-pixel depth aligned to the RGB camera. - The network fuses both to produce detections with (x, y, z) spatial coordinates. + Creates the SpatialDetectionNetwork and links it with stereo depth + color camera. Args: pipeline: The DepthAI pipeline object. - stereo: Configured StereoDepth node (from stereo_node.py, depth aligned to RGB). - model_path: Path to the .blob model file. Set via spatial_detection.model_path in config.yaml. + stereo: Configured StereoDepth node with depth aligned to CAM_A. + model_name: Luxonis model zoo name (e.g. "yolov6-nano"). Returns: - Tuple of (spatial_detection_network, color_camera) nodes. + Configured SpatialDetectionNetwork node. """ - # --- 1. Color Camera --- - color_cam = pipeline.create(dai.node.ColorCamera) - color_cam.setPreviewSize(YOLO_INPUT_SIZE, YOLO_INPUT_SIZE) - color_cam.setInterleaved(False) - color_cam.setColorOrder(dai.ColorCameraProperties.ColorOrder.BGR) - color_cam.setFps(30) - - # --- 2. Spatial Detection Network --- - spatial_detection = pipeline.create(dai.node.YoloSpatialDetectionNetwork) + # CAM_A is the RGB sensor — must match stereo's setDepthAlign(CAM_A) + cam = pipeline.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_A) - spatial_detection.setBlobPath(model_path) - - # Detection settings + spatial_detection = pipeline.create(dai.node.SpatialDetectionNetwork).build( + cam, stereo, model_name + ) spatial_detection.setConfidenceThreshold(CONFIDENCE_THRESHOLD) - spatial_detection.setIouThreshold(IOU_THRESHOLD) - - # YOLO architecture settings - spatial_detection.setNumClasses(NUM_CLASSES) - spatial_detection.setCoordinateSize(COORDINATE_SIZE) - spatial_detection.setAnchors(ANCHORS) - spatial_detection.setAnchorMasks(ANCHOR_MASKS) - - # Depth fusion settings spatial_detection.setBoundingBoxScaleFactor(BOUNDING_BOX_SCALE_FACTOR) spatial_detection.setDepthLowerThreshold(DEPTH_LOWER_THRESHOLD_MM) spatial_detection.setDepthUpperThreshold(DEPTH_UPPER_THRESHOLD_MM) + spatial_detection.input.setBlocking(False) - # --- 3. Linking --- - color_cam.preview.link(spatial_detection.input) - stereo.depth.link(spatial_detection.inputDepth) - - return spatial_detection, color_cam + return spatial_detection diff --git a/modules/target_tracking/stereo_node.py b/modules/target_tracking/stereo_node.py index 20b1660..f0dfa66 100644 --- a/modules/target_tracking/stereo_node.py +++ b/modules/target_tracking/stereo_node.py @@ -1,6 +1,6 @@ """ Module for initializing and configuring the StereoDepth node. -This setup aligns the depth map to the RGB camera for spatial logic. +Depth aligned to CAM_A (RGB) for spatial detection. """ import depthai as dai @@ -8,42 +8,24 @@ def create_stereo_depth(pipeline: dai.Pipeline) -> dai.node.StereoDepth: """ - Creates the StereoDepth node and links it to the Mono cameras. + Creates the StereoDepth node and links it to the mono cameras. Args: - pipeline (dai.Pipeline): The DepthAI pipeline object. + pipeline: The DepthAI pipeline object. Returns: - dai.node.StereoDepth: The configured stereo node. + Configured StereoDepth node with depth aligned to CAM_A. """ - # --- 1. Define Sources --- - mono_left = pipeline.create(dai.node.MonoCamera) - mono_right = pipeline.create(dai.node.MonoCamera) + mono_left = pipeline.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_B) + mono_right = pipeline.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_C) - # Configure the hardware sockets (Left vs Right) - mono_left.setBoardSocket(dai.CameraBoardSocket.LEFT) - mono_right.setBoardSocket(dai.CameraBoardSocket.RIGHT) - - # Set Resolution (400p is standard) - # Breaking line to satisfy flake8 line length limit - mono_left.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P) - mono_right.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P) - - # --- 2. Define the Processor --- stereo = pipeline.create(dai.node.StereoDepth) - - # --- 3. Configuration --- - # CRITICAL: Align depth to RGB (bc mono cams are 20 pixels off) - stereo.setDepthAlign(dai.CameraBoardSocket.RGB) - - # Improve quality + stereo.setDepthAlign(dai.CameraBoardSocket.CAM_A) stereo.setSubpixel(True) - stereo.setLeftRightCheck(True) # Removes ghost pixels at edges - # Change to True if <50cm need tracking needed + stereo.setLeftRightCheck(True) stereo.setExtendedDisparity(False) - # --- 4. Linking --- - mono_left.out.link(stereo.left) - mono_right.out.link(stereo.right) + mono_left.requestOutput((640, 400)).link(stereo.left) + mono_right.requestOutput((640, 400)).link(stereo.right) return stereo diff --git a/requirements-pytorch.txt b/requirements-pytorch.txt index fb9cf38..092d3e1 100644 --- a/requirements-pytorch.txt +++ b/requirements-pytorch.txt @@ -1,6 +1,6 @@ # Runtime dependencies for target tracking pipeline -depthai>=2.24.0 +depthai>=3.5.0 opencv-python>=4.9.0 pymavlink>=2.4.40 -pyyaml>=6.0 \ No newline at end of file +pyyaml>=6.0 From 67b40e4f243e2ffc9330f240496f1e59ecfbc2f9 Mon Sep 17 00:00:00 2001 From: Tq Date: Sat, 2 May 2026 14:13:59 -0400 Subject: [PATCH 5/8] Fix pylint C0116: add docstring to main() Resolves missing-function-docstring warning causing CI exit code 16. Co-authored-by: Yujie Meng <192458226+Yujie-Meng@users.noreply.github.com> --- main_2025.py | 1 + 1 file changed, 1 insertion(+) diff --git a/main_2025.py b/main_2025.py index f3baeba..0aa11c5 100644 --- a/main_2025.py +++ b/main_2025.py @@ -19,6 +19,7 @@ def main() -> int: + """Run the OAK-D target tracking pipeline.""" with open(CONFIG_FILE_PATH, "r", encoding="utf-8") as config_file: config = yaml.safe_load(config_file) From bccffafa0a2fcf88e4911130e1200c9ba226404b Mon Sep 17 00:00:00 2001 From: Tq Date: Thu, 7 May 2026 16:36:28 -0400 Subject: [PATCH 6/8] Add z-coordinate calibration offsets to correct systematic depth overestimate Co-authored-by: Yujie Meng <192458226+Yujie-Meng@users.noreply.github.com> Co-authored-by: Yujie Meng Co-authored-by: Yujie Co-Authored-By: Claude Sonnet 4.6 (1M context) --- main_2025.py | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) diff --git a/main_2025.py b/main_2025.py index 0aa11c5..d957b32 100644 --- a/main_2025.py +++ b/main_2025.py @@ -17,6 +17,13 @@ CONFIG_FILE_PATH = pathlib.Path("config.yaml") OUTPUT_QUEUE_SIZE = 4 +# Calibration offsets (mm) — subtracted from raw z to correct systematic overestimate. +# Measured bias: +27mm at close range (<750mm), +74mm at long range (>=750mm). +# Tune these values if the camera or mounting changes. +Z_CALIBRATION_OFFSET_CLOSE_MM = 27 # for z < 750mm (~0.5m range) +Z_CALIBRATION_OFFSET_FAR_MM = 74 # for z >= 750mm (~1.0m+ range) +Z_CALIBRATION_THRESHOLD_MM = 750 # boundary between close and far + def main() -> int: """Run the OAK-D target tracking pipeline.""" @@ -48,7 +55,9 @@ def main() -> int: roi = tracklet.roi.denormalize(frame.shape[1], frame.shape[0]) x_mm = tracklet.spatialCoordinates.x y_mm = tracklet.spatialCoordinates.y - z_mm = tracklet.spatialCoordinates.z + raw_z = tracklet.spatialCoordinates.z + offset = Z_CALIBRATION_OFFSET_CLOSE_MM if raw_z < Z_CALIBRATION_THRESHOLD_MM else Z_CALIBRATION_OFFSET_FAR_MM + z_mm = raw_z - offset print( f"Target ID {tracklet.id}: " From c32f1fe74ffa3c7388756f7c1c29818cfc9346f2 Mon Sep 17 00:00:00 2001 From: Tq Date: Sun, 10 May 2026 00:12:12 -0400 Subject: [PATCH 7/8] Smoothed piecewise-linear z-calibration; commit accuracy test data Replaces the two-bucket constant offset (27/74mm split at 750mm) with a piecewise-linear interpolation over 4 measured anchors (0.5/1.0/1.5/2.0m) that tapers smoothly to zero past 2.2m, where the camera's factory calibration is trusted. The previous scheme over-corrected at 2m, turning a -31mm raw bias into -105mm; the new one avoids this by capturing the genuine non-monotonicity of the bias profile. Residual bias after calibration (vs. raw): | Distance | Raw | Calibrated | |----------|--------|------------| | 0.5m | +27.5 | -0.14 | | 1.0m | +75.1 | +0.12 | | 1.5m | +73.2 | +0.48 | | 2.0m | -48.7 | -3.61 | Also commits the underlying test logs (2026-04-30, 2026-05-07) and the calibration visualization for reproducibility. ![calibration](https://github.com/UWARG/ML-CV-Target-Tracking/raw/depthai1/documentation/accuracy/calibration.png) Co-authored-by: Yujie Meng <192458226+Yujie-Meng@users.noreply.github.com> Co-authored-by: Yujie Meng Co-authored-by: Yujie --- .../accuracy/accuracy_log_2026-04-30.csv | 773 ++++++++++++++++ .../accuracy/accuracy_log_2026-05-07.csv | 841 ++++++++++++++++++ documentation/accuracy/calibration.png | Bin 0 -> 331415 bytes main_2025.py | 34 +- 4 files changed, 1639 insertions(+), 9 deletions(-) create mode 100644 documentation/accuracy/accuracy_log_2026-04-30.csv create mode 100644 documentation/accuracy/accuracy_log_2026-05-07.csv create mode 100644 documentation/accuracy/calibration.png diff --git a/documentation/accuracy/accuracy_log_2026-04-30.csv b/documentation/accuracy/accuracy_log_2026-04-30.csv new file mode 100644 index 0000000..c90c71c --- /dev/null +++ b/documentation/accuracy/accuracy_log_2026-04-30.csv @@ -0,0 +1,773 @@ +timestamp,test_distance,target_id,x_mm,y_mm,z_mm +1777584773.933155,0.5m,0,-143,36,686 +1777584773.984818,0.5m,0,-144,36,687 +1777584774.04097,0.5m,0,-143,36,685 +1777584774.093626,0.5m,0,-142,36,686 +1777584774.146431,0.5m,0,-141,36,684 +1777584774.199923,0.5m,0,-143,36,685 +1777584774.255423,0.5m,0,-141,36,684 +1777584774.3112152,0.5m,0,-141,36,685 +1777584774.359117,0.5m,0,-142,36,684 +1777584774.413475,0.5m,0,-142,36,684 +1777584774.468322,0.5m,0,-145,36,683 +1777584774.524756,0.5m,0,-142,36,683 +1777584774.578047,0.5m,0,-141,36,684 +1777584774.6253388,0.5m,0,-142,36,683 +1777584774.684326,0.5m,0,-143,36,684 +1777584774.741537,0.5m,0,-142,36,683 +1777584774.79103,0.5m,0,-139,36,683 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zZ}3plQZ~=Pi(aL4K;RZdl?)2YsQz2Z-#vF(vLsRB!<%EZW1mH2#MXW;<$4*$G}W&l z_Y_j~J<~TUR!|j?bx(sTC_Zl9#)I-RLwhTCF%zx>wu+sOIU#3t`|6-E92ZeO0B)n2 zdCXYrlmMWmO4}Nb{5O>W6!fHy5u%l@EmWL!FB7A{_}RG_Kt;5EPfd`T)eVUE898gvpqNd2fuoX#sB~S literal 0 HcmV?d00001 diff --git a/main_2025.py b/main_2025.py index d957b32..4fd8fae 100644 --- a/main_2025.py +++ b/main_2025.py @@ -17,12 +17,30 @@ CONFIG_FILE_PATH = pathlib.Path("config.yaml") OUTPUT_QUEUE_SIZE = 4 -# Calibration offsets (mm) — subtracted from raw z to correct systematic overestimate. -# Measured bias: +27mm at close range (<750mm), +74mm at long range (>=750mm). -# Tune these values if the camera or mounting changes. -Z_CALIBRATION_OFFSET_CLOSE_MM = 27 # for z < 750mm (~0.5m range) -Z_CALIBRATION_OFFSET_FAR_MM = 74 # for z >= 750mm (~1.0m+ range) -Z_CALIBRATION_THRESHOLD_MM = 750 # boundary between close and far +# Z-bias calibration anchors: (raw_z_mm, offset_mm_to_subtract). +# Measured at 0.5/1.0/1.5/2.0m; final (2200, 0) tapers smoothly to factory calibration. +# Beyond the last anchor the raw camera value is trusted as-is. +# See documentation/accuracy/calibration.png for the fit visualization. +Z_CALIBRATION_ANCHORS = ( + (527.0, 27.5), # 0.5m + (1075.0, 75.1), # 1.0m + (1573.0, 73.2), # 1.5m + (1951.0, -48.7), # 2.0m + (2200.0, 0.0), # taper end — trust factory beyond this +) + + +def calibrate_z(raw_z: float) -> float: + """Apply piecewise-linear bias correction to a raw stereo-depth z value (mm).""" + if raw_z <= Z_CALIBRATION_ANCHORS[0][0]: + return raw_z - Z_CALIBRATION_ANCHORS[0][1] + if raw_z >= Z_CALIBRATION_ANCHORS[-1][0]: + return raw_z + for (z0, o0), (z1, o1) in zip(Z_CALIBRATION_ANCHORS, Z_CALIBRATION_ANCHORS[1:]): + if z0 <= raw_z <= z1: + t = (raw_z - z0) / (z1 - z0) + return raw_z - (o0 + t * (o1 - o0)) + return raw_z def main() -> int: @@ -55,9 +73,7 @@ def main() -> int: roi = tracklet.roi.denormalize(frame.shape[1], frame.shape[0]) x_mm = tracklet.spatialCoordinates.x y_mm = tracklet.spatialCoordinates.y - raw_z = tracklet.spatialCoordinates.z - offset = Z_CALIBRATION_OFFSET_CLOSE_MM if raw_z < Z_CALIBRATION_THRESHOLD_MM else Z_CALIBRATION_OFFSET_FAR_MM - z_mm = raw_z - offset + z_mm = calibrate_z(tracklet.spatialCoordinates.z) print( f"Target ID {tracklet.id}: " From dad482388e10d84859e3c4cf8a1f2ccb7b84ab30 Mon Sep 17 00:00:00 2001 From: Tq Date: Sun, 10 May 2026 00:13:15 -0400 Subject: [PATCH 8/8] Apply black formatting to main_2025.py CI failed black --check on the previous commit (column-aligned tuples and an extra blank line). Reformat to satisfy the checker; no semantic change. Co-authored-by: Yujie Meng <192458226+Yujie-Meng@users.noreply.github.com> Co-authored-by: Yujie Meng Co-authored-by: Yujie --- main_2025.py | 11 +++++------ 1 file changed, 5 insertions(+), 6 deletions(-) diff --git a/main_2025.py b/main_2025.py index 4fd8fae..1038c3e 100644 --- a/main_2025.py +++ b/main_2025.py @@ -13,7 +13,6 @@ from modules.target_tracking.spatial_detection_node import create_spatial_detection_network from modules.target_tracking.object_tracker_node import create_object_tracker - CONFIG_FILE_PATH = pathlib.Path("config.yaml") OUTPUT_QUEUE_SIZE = 4 @@ -22,11 +21,11 @@ # Beyond the last anchor the raw camera value is trusted as-is. # See documentation/accuracy/calibration.png for the fit visualization. Z_CALIBRATION_ANCHORS = ( - (527.0, 27.5), # 0.5m - (1075.0, 75.1), # 1.0m - (1573.0, 73.2), # 1.5m - (1951.0, -48.7), # 2.0m - (2200.0, 0.0), # taper end — trust factory beyond this + (527.0, 27.5), # 0.5m + (1075.0, 75.1), # 1.0m + (1573.0, 73.2), # 1.5m + (1951.0, -48.7), # 2.0m + (2200.0, 0.0), # taper end — trust factory beyond this )