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Dropout tolerance added

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This commit is contained in:
Alexander Shabarshov 2026-05-11 17:46:27 +01:00
parent 7d2ccad070
commit 5473bc9d09
1 changed files with 22 additions and 6 deletions
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28
CameraController.cs
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@ -20,6 +20,10 @@ public sealed class CameraController
private readonly int _lostFreezeFrames; private readonly int _lostFreezeFrames;
private readonly float _cameraEasing; private readonly float _cameraEasing;
// --- NEW: dropout tolerance ---
private const int DropoutToleranceFrames = 20; // adjust as needed
private int _dropoutCounter;
private int _lostFrames; private int _lostFrames;
private Point2f _cameraCenter; private Point2f _cameraCenter;
private TrackState _state; private TrackState _state;
@ -70,6 +74,24 @@ public sealed class CameraController
objectBox = primary.Value.box; objectBox = primary.Value.box;
} }
// ---------------------------------------------------------
// NEW: dropout tolerance
// ---------------------------------------------------------
if (!objectCenter.HasValue)
{
if (_dropoutCounter < DropoutToleranceFrames)
{
// Treat as still tracked
objectCenter = _kalman.LastMeasurement;
_dropoutCounter++;
}
}
else
{
// Reset dropout counter when detection is present
_dropoutCounter = 0;
}
bool isLost = !objectCenter.HasValue; bool isLost = !objectCenter.HasValue;
// LOST / REACQUIRE STATE MACHINE // LOST / REACQUIRE STATE MACHINE
@ -79,20 +101,17 @@ public sealed class CameraController
if (_lostFrames <= _lostFreezeFrames) if (_lostFrames <= _lostFreezeFrames)
{ {
// LOST_FREEZE: freeze camera
_state = TrackState.LostFreeze; _state = TrackState.LostFreeze;
objectCenter = null; // Kalman predicts but camera won't move objectCenter = null; // Kalman predicts but camera won't move
} }
else else
{ {
// LOST_DRIFT: drift camera to center
_state = TrackState.LostDrift; _state = TrackState.LostDrift;
objectCenter = new Point2f(_videoWidth / 2f, _videoHeight / 2f); objectCenter = new Point2f(_videoWidth / 2f, _videoHeight / 2f);
} }
} }
else else
{ {
// Object reacquired
_state = TrackState.Tracking; _state = TrackState.Tracking;
_lostFrames = 0; _lostFrames = 0;
} }
@ -104,20 +123,17 @@ public sealed class CameraController
{ {
smoothedCenter = _kalman.Update(objectCenter); smoothedCenter = _kalman.Update(objectCenter);
// first, faster internal easing (as in your original code)
float fastEasing = 0.015f; float fastEasing = 0.015f;
_cameraCenter = new Point2f( _cameraCenter = new Point2f(
_cameraCenter.X + (smoothedCenter.X - _cameraCenter.X) * fastEasing, _cameraCenter.X + (smoothedCenter.X - _cameraCenter.X) * fastEasing,
_cameraCenter.Y + (smoothedCenter.Y - _cameraCenter.Y) * fastEasing); _cameraCenter.Y + (smoothedCenter.Y - _cameraCenter.Y) * fastEasing);
// then, external configurable easing
_cameraCenter = new Point2f( _cameraCenter = new Point2f(
_cameraCenter.X + (smoothedCenter.X - _cameraCenter.X) * _cameraEasing, _cameraCenter.X + (smoothedCenter.X - _cameraCenter.X) * _cameraEasing,
_cameraCenter.Y + (smoothedCenter.Y - _cameraCenter.Y) * _cameraEasing); _cameraCenter.Y + (smoothedCenter.Y - _cameraCenter.Y) * _cameraEasing);
} }
else if (_state == TrackState.LostFreeze) else if (_state == TrackState.LostFreeze)
{ {
// Freeze camera — do nothing
smoothedCenter = _kalman.LastMeasurement ?? _cameraCenter; smoothedCenter = _kalman.LastMeasurement ?? _cameraCenter;
} }
else // LOST_DRIFT else // LOST_DRIFT