CameraDiffDetection Class Reference

Motion detection and persistent single-target tracking on camera frames. More...

#include <camera_diff_detection.h>

Inheritance diagram for CameraDiffDetection:

Public Member Functions
	CameraDiffDetection (const CameraDiffDetection &)=delete
CameraDiffDetection &	operator= (const CameraDiffDetection &)=delete
bool	begin ()
	Allocate the pipeline in internal RAM. Without it detect_object() reports no motion.
std::tuple< MoveX, MoveY >	detect_object (camera_buffer_t frame) override
	Analyse one frame; returns the direction toward the tracked target (None when there is none).
bool	start_task (FrameStore &store)
	Create the "detect" task (core 1, priority 3, 4096 B stack) and subscribe it to the store.
void	reset () override
	Publish an Idle snapshot now and request a reset of detector and tracker.
TrackSnapshot	get_track_snapshot () const override
	Latest tracker output, safe to call from another task (implementations copy under a lock).
DetectionStats	get_stats () const override
	Detection timings and counters for the stats line.
Public Member Functions inherited from BaseDetectionModule
virtual	~BaseDetectionModule ()=default
	Virtual destructor to ensure proper cleanup of derived classes.

Detailed Description

Motion detection and persistent single-target tracking on camera frames.

Each frame: JPEG -> 40x30 gray (jpeg_gray), MotionDetector, Tracker. The pipeline state is allocated once in internal RAM by begin() (~12.6 KB at 40x30; tracking measured 0.6 ms there versus 1.1 ms in PSRAM); nothing is allocated per frame. After start_task(), a dedicated "detect" task (core 1, priority 3) owns the pipeline and calls detect_object() on every new published frame; the snapshot and stats getters and reset() may be called from any task.

Member Function Documentation

detect_object()

std::tuple< MoveX, MoveY > CameraDiffDetection::detect_object ( camera_buffer_t frame )

overridevirtual

Analyse one frame; returns the direction toward the tracked target (None when there is none).

Implements BaseDetectionModule.

get_stats()

DetectionStats CameraDiffDetection::get_stats ( ) const

overridevirtual

Detection timings and counters for the stats line.

Reimplemented from BaseDetectionModule.

get_track_snapshot()

TrackSnapshot CameraDiffDetection::get_track_snapshot ( ) const

overridevirtual

Latest tracker output, safe to call from another task (implementations copy under a lock).

Returns

Default (Idle) snapshot when the module does not track.

Reimplemented from BaseDetectionModule.

reset()

void CameraDiffDetection::reset ( )

overridevirtual

Publish an Idle snapshot now and request a reset of detector and tracker.

Safe from any task. The Idle snapshot and the request flag are written in one critical section of the published-state lock, so get_track_snapshot() returns Idle as soon as reset() returns. While the flag is set, detect_object() still counts stats but does not write the snapshot (checked under the same lock), so a frame that the old pipeline was analysing cannot replace the Idle snapshot with a stale Locked one. The detection task clears the flag and resets the pipeline before its next frame; reset() wakes it, and its 200 ms wait timeout is a backstop. The pipeline reset itself is therefore asynchronous, the snapshot is not.

Reimplemented from BaseDetectionModule.

start_task()

bool CameraDiffDetection::start_task

(

FrameStore &

store

)

Create the "detect" task (core 1, priority 3, 4096 B stack) and subscribe it to the store.

The task sleeps until FrameStore::publish wakes it, then analyses the newest unseen frame. Idempotent. Call after begin() and after the frame pipeline is running; store must outlive this object.

Returns

false if begin() has not succeeded, the task cannot be created or the store has no free subscriber slot.

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The documentation for this class was generated from the following files:

• lib/detection/include/camera_diff_detection.h
• lib/detection/src/camera_diff_detection.cpp