Indicate if camera bounds are projected

.github/skills/python.md

@@ -147,12 +147,15 @@ result = client.getScene(scene_id)
 
 ### Logging
 
+- Use f-strings for interpolated log messages.
+- Do not use printf-style placeholders (for example `%s`, `%d`) in log statements.
+
 ```python
 from scene_common import log
 
 log.info("Processing started")
-log.error("Failed to process")
-log.debug("Debug information")
+log.error(f"Failed to process scene {scene_id}")
+log.debug(f"Debug information: {debug_payload}")
 ```
 
 ## Type Hints

controller/src/controller/detections_builder.py

@@ -4,6 +4,7 @@
 import numpy as np
 
 from controller.scene import TripwireEvent
+from scene_common import log
 from scene_common.earth_lla import convertXYZToLLA, calculateHeading
 from scene_common.geometry import DEFAULTZ, Point, Size
 from scene_common.timestamp import get_iso_time
@@ -134,23 +135,53 @@ def computeCameraBounds(scene, aobj, obj_dict):
   camera_bounds = {}
   for cameraID in obj_dict['visibility']:
     bounds = None
-    if aobj and len(aobj.vectors) > 0 and hasattr(aobj.vectors[0].camera, 'cameraID') \
-          and cameraID == aobj.vectors[0].camera.cameraID:
+    projected = False
+    is_source_camera = (
+      aobj and len(aobj.vectors) > 0 and hasattr(aobj.vectors[0].camera, 'cameraID')
+      and cameraID == aobj.vectors[0].camera.cameraID
+    )
+
+    # Prefer source detector pixel bbox when available. This preserves the
+    # detector-provided 2D box instead of a reprojected estimate.
+    if is_source_camera:
       bounds = getattr(aobj, 'boundingBoxPixels', None)
-    elif scene:
+      projected = False
+      if bounds is None:
+        log.debug(
+          f"computeCameraBounds: source camera {cameraID} has no boundingBoxPixels; "
+          "falling back to projected bounds when possible."
+        )
+
+    # For non-source cameras (or source camera without pixel bbox), project
+    # 3D/metric object state into each visible camera image plane.
+    if bounds is None and scene:
       camera = scene.cameraWithID(cameraID)
-      if camera is not None and 'bb_meters' in obj_dict:
-        obj_translation = None
-        obj_size = None
-        if aobj:
-          obj_translation = aobj.sceneLoc
-          obj_size = aobj.bbMeters.size
-        else:
-          obj_translation = Point(obj_dict['translation'])
-          obj_size = Size(obj_dict['bb_meters']['width'], obj_dict['bb_meters']['height'])
-        bounds = camera.pose.projectEstimatedBoundsToCameraPixels(obj_translation,
-                                                                  obj_size)
+      if camera is None:
+        log.debug(
+          f"computeCameraBounds: camera {cameraID} not found in scene; cannot project bounds."
+        )
+        continue
+      elif 'bb_meters' not in obj_dict and (not aobj or not hasattr(aobj, 'bbMeters') or aobj.bbMeters is None):
+        log.debug(
+          f"computeCameraBounds: missing bb_meters for camera {cameraID}; cannot project bounds."
+        )
+        continue
+
+      obj_translation = None
+      obj_size = None
+      if aobj and hasattr(aobj, 'bbMeters') and aobj.bbMeters is not None:
+        obj_translation = aobj.sceneLoc
+        obj_size = aobj.bbMeters.size
+      else:
+        obj_translation = Point(obj_dict['translation'])
+        obj_size = Size(obj_dict['bb_meters']['width'], obj_dict['bb_meters']['height'])
+      bounds = camera.pose.projectEstimatedBoundsToCameraPixels(obj_translation,
+                                                                obj_size)
+      projected = True
+
     if bounds:
-      camera_bounds[cameraID] = bounds.asDict
+      bound_dict = dict(bounds.asDict)
+      bound_dict['projected'] = projected
+      camera_bounds[cameraID] = bound_dict
   obj_dict['camera_bounds'] = camera_bounds
   return

controller/src/controller/scene.py

@@ -502,9 +502,6 @@ def _deserializeTrackedObjects(self, serialized_objects):
         'confidence': obj.confidence,
       }
 
-      if 'center_of_mass' in obj_data:
-        obj.info['center_of_mass'] = obj_data['center_of_mass']
-
       if 'camera_bounds' in obj_data and obj_data['camera_bounds']:
         obj._camera_bounds = obj_data['camera_bounds']
       else:

controller/src/controller/time_chunking.py

@@ -130,6 +130,8 @@ def run(self):
 class TimeChunkedIntelLabsTracking(IntelLabsTracking):
   """Time-chunked version of IntelLabsTracking."""
 
+  EMPTY_FRAME_CAMERA_ID = "__empty_frame__"
+
   def __init__(self, max_unreliable_time, non_measurement_time_dynamic, non_measurement_time_static, time_chunking_rate_fps, suspended_track_timeout_secs=DEFAULT_SUSPENDED_TRACK_TIMEOUT_SECS, reid_config_data=None):
     # Call parent constructor to initialize IntelLabsTracking
     super().__init__(max_unreliable_time, non_measurement_time_dynamic, non_measurement_time_static, time_chunking_rate_fps, suspended_track_timeout_secs, reid_config_data)
@@ -150,18 +152,19 @@ def trackObjects(self, objects, already_tracked_objects, when, categories,
     # Create IntelLabs trackers if not already created
     self._createIlabsTrackers(categories, max_unreliable_time, non_measurement_time_dynamic, non_measurement_time_static)
 
-    if len(objects) == 0:
-      return
-
     if not categories:
       categories = self.trackers.keys()
 
     # Extract camera_id from objects - required for time chunking
-    try:
-      camera_id = objects[0].camera.cameraID
-    except (AttributeError, IndexError):
-      log.warning("No camera ID found in objects, skipping time chunking processing")
-      return
+    if len(objects) > 0:
+      try:
+        camera_id = objects[0].camera.cameraID
+      except (AttributeError, IndexError):
+        log.warning("No camera ID found in objects, skipping time chunking processing")
+        return
+    else:
+      # Keep retirement moving when a camera/category has no detections.
+      camera_id = self.EMPTY_FRAME_CAMERA_ID
 
     for category in categories:
       # Use time chunking

controller/src/schema/metadata.schema.json

@@ -90,32 +90,6 @@
       },
       "required": ["x", "y", "width", "height"]
     },
-    "center_of_mass": {
-      "title": "Center of Mass",
-      "type": "object",
-      "description": "Center of mass region of a detected object in pixel coordinates of a detected object in an image frame. It is a smaller bounding box that is used for determining average distance from the camera when using RealSense, for example.",
-      "properties": {
-        "x": {
-          "type": "number",
-          "description": "Number of horizontal pixels from the left side of the image to the center of mass bounding box."
-        },
-        "y": {
-          "type": "number",
-          "description": "Number of vertical pixels from the top of the image to the center of mass bounding box."
-        },
-        "width": {
-          "type": "number",
-          "description": "Horizontal width of the center of mass bounding box in pixels.",
-          "minimum": 0
-        },
-        "height": {
-          "type": "number",
-          "description": "Vertical height of the center of mass bounding box in pixels.",
-          "minimum": 0
-        }
-      },
-      "required": ["x", "y", "width", "height"]
-    },
     "semantic_metadata_attribute": {
       "type": "object",
       "title": "Semantic Metadata Attribute",
@@ -233,9 +207,6 @@
           "$ref": "#/definitions/semantic_metadata",
           "description": "Semantic metadata describing what an object is (age, gender, clothing, embedding vectors, etc)."
         },
-        "center_of_mass": {
-          "$ref": "#/definitions/center_of_mass"
-        },
         "distance": {
           "title": "Distance to Object",
           "type": "number",

controller/tools/tracker/standard-tests.json

@@ -576,12 +576,6 @@
             "width": 0.20656122377186442,
             "height": 0.3816131083242918
           },
-          "center_of_mass": {
-            "x": 560,
-            "y": 75,
-            "width": 39.333333333333336,
-            "height": 54.5
-          },
           "bounding_box_px": {
             "x": 521,
             "y": 21,
@@ -1685,12 +1679,6 @@
             "width": 0.159297214942709,
             "height": 0.44638230560868997
           },
-          "center_of_mass": {
-            "x": 310,
-            "y": 149,
-            "width": 30.333333333333332,
-            "height": 63.75
-          },
           "bounding_box_px": {
             "x": 280,
             "y": 86,
@@ -1708,12 +1696,6 @@
             "width": 0.13128891341432058,
             "height": 0.3728605140966705
           },
-          "center_of_mass": {
-            "x": 488,
-            "y": 78,
-            "width": 25.0,
-            "height": 53.25
-          },
           "bounding_box_px": {
             "x": 463,
             "y": 25,
@@ -2390,12 +2372,6 @@
             "width": 0.22931796876368,
             "height": 0.4516338621452628
           },
-          "center_of_mass": {
-            "x": 44,
-            "y": 84,
-            "width": 43.666666666666664,
-            "height": 64.5
-          },
           "bounding_box_px": {
             "x": 1,
             "y": 20,
@@ -3048,12 +3024,6 @@
             "width": 0.20656122377186437,
             "height": 0.5251556536572823
           },
-          "center_of_mass": {
-            "x": 370,
-            "y": 203,
-            "width": 39.333333333333336,
-            "height": 75.0
-          },
           "reid": "vTGGvSaJeL4ktus9yj24PhxMs77yXuO++DwsP4D5fzsGec49heCovX3fCD6Ffvy+pgiBvkjKHj3Yx6e9xLW0vhjOJj2SXZI+0KZkvrDs871LdMq+maQ/vZMj0b6I1LO+vhugvn8ltT70vlI9kv8PPlTbZL6uyse9VWDwvQY8SD/h0K++/t+Pvl/uzD7oR2+/sVXevXAKtb5EuZs+M4bdvmjjs74NjJK+Lg/RvvZ8Ib+7Enk+kO8Kv3xbBj5hjj69mu8+PmkmvT5JopC+PEapPQcW474gHIe+1IIqvunHJT6Yg4W+asdBPjASPD+zR7o+MsFsPobqTz/xFxc/gPLHPXh9JD3El6w9HA1ePqoRmb5SMt498kgcP3P6Nj+s7sk+17+gvB4oSz7zveu+VsdnvoAB0T5pu8k+e8nZvqS2bT4gwZ0+5AwtPxAK7TzY5C48ga15vnSVaT/N/kO+xhDcPsAALDwm5EU+rVVFP0GxS77cLrI+y6xdv8IzPz9DwpE+ip/YPZyFSj6Gq7W+rULnvrzsYT9Ypug+1ayRPjbXKL9EBFK+htnTvk5ykr6gej2/1x9KP1/sxL73D9++4HqFPP8QHT4/Iv290NtpPhoSXT7UZ7U/3nD2PRO0wb11Yqq+mIUYPzMmgT6yvAY+nskWvxnIpz7up2K+SbKWvsUHkb3dnbQ+sCzAPTtgEr7xPDS+nZHzvgA75zz6LPO+qyOmPlGYG7+KqA8+q2BQP8T26j7AnpY+UmFyPrabJT74iyq/YskaP6QoL78kKqm9bwdIvkL0y76/NCW/rPSdPmTe8T11cPK9zKu7PUzSqz28JUW/qzmxvkHsrr4AVKE+8yMnPzL0PD/ajZI+dy6TvngM5L1SioA+mJk3P3bJNj+9uyy+AfsHvLKxqT54xj4+Ij7svtTxEL8ccmQ/U5cAPyD2hT1h3yc/BTxMvif72b6EiQc+3CPDPmd16z4ek0i+q99KPnimX75tir++lzbAvLJ9UL4g/QI/Y1+4PY4kij7cZXy/HPB+Pthu076BGYG+hEkZPobQB78GrAA/GHXAPGBH0z2SVsq9vEi0PojqID+yZxa9kJ3bPnhUbj3Fima+jMgHPtDAwzwH/yG9x318vgSZNj+xxpu9zH2svgjDqz6S0BA/AqYGv+/N174Nynw+EP+WP7ZX175qwcU+mOrgPbXGXj7s+fe+bHTCvRzZnjzFOPa+juksPaybrTzdJoy+NrAGP8ezGz82U5e9nGC0Pm6zKb6/wTi9Aw3mPoosOT3q8LK+22YnP3M+F71cArg+0c7JvpzOPD+Coxi/XZ6LvqT+Nz+8Hg2/MlMMvyWV2L1utg0/L1qKPsEc6r3/aQ4+zgYyPg==",
           "bounding_box_px": {
             "x": 331,
@@ -3072,12 +3042,6 @@
             "width": 0.1557961772516604,
             "height": 0.3746110329421948
           },
-          "center_of_mass": {
-            "x": 574,
-            "y": 62,
-            "width": 29.666666666666668,
-            "height": 53.5
-          },
           "reid": "vTGGvSaJeL4ktus9yj24PhxMs77yXuO++DwsP4D5fzsGec49heCovX3fCD6Ffvy+pgiBvkjKHj3Yx6e9xLW0vhjOJj2SXZI+0KZkvrDs871LdMq+maQ/vZMj0b6I1LO+vhugvn8ltT70vlI9kv8PPlTbZL6uyse9VWDwvQY8SD/h0K++/t+Pvl/uzD7oR2+/sVXevXAKtb5EuZs+M4bdvmjjs74NjJK+Lg/RvvZ8Ib+7Enk+kO8Kv3xbBj5hjj69mu8+PmkmvT5JopC+PEapPQcW474gHIe+1IIqvunHJT6Yg4W+asdBPjASPD+zR7o+MsFsPobqTz/xFxc/gPLHPXh9JD3El6w9HA1ePqoRmb5SMt498kgcP3P6Nj+s7sk+17+gvB4oSz7zveu+VsdnvoAB0T5pu8k+e8nZvqS2bT4gwZ0+5AwtPxAK7TzY5C48ga15vnSVaT/N/kO+xhDcPsAALDwm5EU+rVVFP0GxS77cLrI+y6xdv8IzPz9DwpE+ip/YPZyFSj6Gq7W+rULnvrzsYT9Ypug+1ayRPjbXKL9EBFK+htnTvk5ykr6gej2/1x9KP1/sxL73D9++4HqFPP8QHT4/Iv290NtpPhoSXT7UZ7U/3nD2PRO0wb11Yqq+mIUYPzMmgT6yvAY+nskWvxnIpz7up2K+SbKWvsUHkb3dnbQ+sCzAPTtgEr7xPDS+nZHzvgA75zz6LPO+qyOmPlGYG7+KqA8+q2BQP8T26j7AnpY+UmFyPrabJT74iyq/YskaP6QoL78kKqm9bwdIvkL0y76/NCW/rPSdPmTe8T11cPK9zKu7PUzSqz28JUW/qzmxvkHsrr4AVKE+8yMnPzL0PD/ajZI+dy6TvngM5L1SioA+mJk3P3bJNj+9uyy+AfsHvLKxqT54xj4+Ij7svtTxEL8ccmQ/U5cAPyD2hT1h3yc/BTxMvif72b6EiQc+3CPDPmd16z4ek0i+q99KPnimX75tir++lzbAvLJ9UL4g/QI/Y1+4PY4kij7cZXy/HPB+Pthu076BGYG+hEkZPobQB78GrAA/GHXAPGBH0z2SVsq9vEi0PojqID+yZxa9kJ3bPnhUbj3Fima+jMgHPtDAwzwH/yG9x318vgSZNj+xxpu9zH2svgjDqz6S0BA/AqYGv+/N174Nynw+EP+WP7ZX175qwcU+mOrgPbXGXj7s+fe+bHTCvRzZnjzFOPa+juksPaybrTzdJoy+NrAGP8ezGz82U5e9nGC0Pm6zKb6/wTi9Aw3mPoosOT3q8LK+22YnP3M+F71cArg+0c7JvpzOPD+Coxi/XZ6LvqT+Nz+8Hg2/MlMMvyWV2L1utg0/L1qKPsEc6r3/aQ4+zgYyPg==",
           "bounding_box_px": {
             "x": 545,

dlstreamer-pipeline-server/user_scripts/gvapython/sscape/sscape_policies.py

@@ -14,11 +14,9 @@ def detectionPolicy(pobj, item, fw, fh):
     'category': category,
     'confidence': detection['confidence']
   })
-  computeObjBoundingBoxParams(pobj, fw, fh, item['x'], item['y'], item['w'],item['h'],
-                              item['detection']['bounding_box']['x_min'],
-                              item['detection']['bounding_box']['y_min'],
-                              item['detection']['bounding_box']['x_max'],
-                              item['detection']['bounding_box']['y_max'])
+  pobj.update({
+    'bounding_box_px': {'x': item['x'], 'y': item['y'], 'width': item['w'], 'height': item['h']}
+  })
   return
 
 def detection3DPolicy(pobj, item, fw, fh):
@@ -27,14 +25,8 @@ def detection3DPolicy(pobj, item, fw, fh):
     'confidence': item['detection']['confidence'],
   })
 
-  if 'extra_params' in item:
-    computeObjBoundingBoxParams3D(pobj, item)
-  else:
-    computeObjBoundingBoxParams(pobj, fw, fh, item['x'], item['y'], item['w'],item['h'],
-                            item['detection']['bounding_box']['x_min'],
-                            item['detection']['bounding_box']['y_min'],
-                            item['detection']['bounding_box']['x_max'],
-                            item['detection']['bounding_box']['y_max'])
+  computeObjBoundingBoxParams3D(pobj, item)
+
   if not ('bounding_box_px' in pobj or 'rotation' in pobj):
     print(f"Warning: No bounding box or rotation data found in item {item}")
   return
@@ -91,53 +83,29 @@ def ocrPolicy(pobj, item, fw, fh):
 
 ## Utility functions
 
-def computeObjBoundingBoxParams(pobj, fw, fh, x, y, w, h, xminnorm=None, yminnorm=None, xmaxnorm=None, ymaxnorm=None):
-  # use normalized bounding box for calculating center of mass
-  xmax, xmin = int(xmaxnorm * fw), int(xminnorm * fw)
-  ymax, ymin = int(ymaxnorm * fh), int(yminnorm * fh)
-  comw, comh = (xmax - xmin) / 3, (ymax - ymin) / 4
-
-  pobj.update({
-    'center_of_mass': {'x': int(xmin + comw), 'y': int(ymin + comh), 'width': comw, 'height': comh},
-    'bounding_box_px': {'x': x, 'y': y, 'width': w, 'height': h}
-  })
-  return
-
 def computeObjBoundingBoxParams3D(pobj, item):
-  pobj.update({
-    'translation': item['extra_params']['translation'],
-    'rotation': item['extra_params']['rotation'],
-    'size': item['extra_params']['dimension']
-  })
+  if 'extra_params' in item and all(k in item['extra_params'] for k in ['translation', 'rotation', 'dimension']):
+    pobj.update({
+      'translation': item['extra_params']['translation'],
+      'rotation': item['extra_params']['rotation'],
+      'size': item['extra_params']['dimension']
+    })
+
+    x_min, y_min, z_min = pobj['translation']
+    x_size, y_size, z_size = pobj['size']
+    x_max, y_max, z_max = x_min + x_size, y_min + y_size, z_min + z_size
+
+    bbox_width = x_max - x_min
+    bbox_height = y_max - y_min
+    bbox_depth = z_max - z_min
+
+    pobj['bounding_box_3D'] = {
+      'x': x_min,
+      'y': y_min,
+      'z': z_min,
+      'width': bbox_width,
+      'height': bbox_height,
+      'depth': bbox_depth
+    }
 
-  x_min, y_min, z_min = pobj['translation']
-  x_size, y_size, z_size = pobj['size']
-  x_max, y_max, z_max = x_min + x_size, y_min + y_size, z_min + z_size
-
-  bbox_width = x_max - x_min
-  bbox_height = y_max - y_min
-  bbox_depth = z_max - z_min
-
-  com_w, com_h, com_d = bbox_width / 3, bbox_height / 4, bbox_depth / 3
-
-  com_x = int(x_min + com_w)
-  com_y = int(y_min + com_h)
-  com_z = int(z_min + com_d)
-
-  pobj['bounding_box_3D'] = {
-    'x': x_min,
-    'y': y_min,
-    'z': z_min,
-    'width': bbox_width,
-    'height': bbox_height,
-    'depth': bbox_depth
-  }
-  pobj['center_of_mass'] = {
-    'x': com_x,
-    'y': com_y,
-    'z': com_z,
-    'width': com_w,
-    'height': com_h,
-    'depth': com_d
-  }
   return