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feat(v1): relax fall sensitivity for low overhead cameras

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Adds configurable event.require_rapid_drop (default off), require_lower_body
(default off) and horizontal_angle_threshold_degrees (default 45). With the
lenient defaults a sustained horizontal pose alone enters SUSPECT and confirms
after the confirm window, which is now the main false-positive guard; missing
knees/ankles no longer reject the pose. Thresholds flow into config_version.
End-to-end smoke confirms a lying pose; 70 tests pass.

Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
This commit is contained in:
ila
2026-07-21 23:29:16 +08:00
co-authored by Claude Opus 4.8
parent 5f29a8e60f
commit b1f0e8aeb4
12 changed files with 104 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files
v1/config.example.json
+4 -1
View File
@@ -17,7 +17,10 @@
"suspect_window_seconds": 0.5,
"confirm_window_seconds": 1.8,
"recovery_window_seconds": 2.0,
"cooldown_seconds": 10.0
"cooldown_seconds": 10.0,
"require_rapid_drop": false,
"require_lower_body": false,
"horizontal_angle_threshold_degrees": 45.0
},
"artifacts": {
"event_dir": "../artifacts/events"
v1/config.py
+20
View File
@@ -69,6 +69,9 @@ class EventConfig:
confirm_window_seconds: float
recovery_window_seconds: float
cooldown_seconds: float
require_rapid_drop: bool = False
require_lower_body: bool = False
horizontal_angle_threshold_degrees: float = 45.0
@dataclass(frozen=True)
@@ -105,6 +108,9 @@ class AppConfig:
"confirm_window_seconds": self.event.confirm_window_seconds,
"recovery_window_seconds": self.event.recovery_window_seconds,
"cooldown_seconds": self.event.cooldown_seconds,
"require_rapid_drop": self.event.require_rapid_drop,
"require_lower_body": self.event.require_lower_body,
"horizontal_angle_threshold_degrees": self.event.horizontal_angle_threshold_degrees,
},
}
canonical = json.dumps(payload, sort_keys=True, separators=(",", ":"))
@@ -139,6 +145,12 @@ def _number(value: Any, field_name: str, minimum: float, maximum: float) -> floa
return result
def _bool(value: Any, field_name: str) -> bool:
if not isinstance(value, bool):
raise ConfigError("{0} must be a boolean".format(field_name))
return value
def _resolve_path(config_path: Path, value: Any, field_name: str) -> Path:
raw_path = Path(_text(value, field_name))
if raw_path.is_absolute():
@@ -274,6 +286,14 @@ def load_config(path: Path) -> AppConfig:
0.0,
3600.0,
),
require_rapid_drop=_bool(event_raw.get("require_rapid_drop", False), "event.require_rapid_drop"),
require_lower_body=_bool(event_raw.get("require_lower_body", False), "event.require_lower_body"),
horizontal_angle_threshold_degrees=_number(
event_raw.get("horizontal_angle_threshold_degrees", 45.0),
"event.horizontal_angle_threshold_degrees",
0.0,
90.0,
),
)
artifacts = _mapping(root.get("artifacts"), "artifacts")
v1/evidence.py
+6 -3
View File
@@ -7,7 +7,9 @@ from typing import Optional
from v1.pose import PersonPose
_REQUIRED_JOINTS = (5, 6, 11, 12, 13, 14, 15, 16)
_TORSO_JOINTS = (5, 6, 11, 12) # shoulders and hips (used by the geometry)
_LOWER_JOINTS = (13, 14, 15, 16) # knees and ankles (often occluded in a fall)
_REQUIRED_JOINTS = _TORSO_JOINTS + _LOWER_JOINTS
@dataclass(frozen=True)
@@ -29,7 +31,7 @@ class PoseEvidence:
def assess_pose_quality(
pose: Optional[PersonPose], threshold: float
pose: Optional[PersonPose], threshold: float, require_lower_body: bool = True
) -> PoseQuality:
if not 0.0 <= threshold <= 1.0:
raise ValueError("threshold must be between 0 and 1")
@@ -40,7 +42,8 @@ def assess_pose_quality(
visible_count = sum(
point.confidence >= threshold for point in pose.keypoints
)
if any(pose.keypoints[index].confidence < threshold for index in _REQUIRED_JOINTS):
required = _REQUIRED_JOINTS if require_lower_body else _TORSO_JOINTS
if any(pose.keypoints[index].confidence < threshold for index in required):
return PoseQuality(False, "required_joint_low_confidence", visible_count)
return PoseQuality(True, "accepted", visible_count)
v1/fall_policy.py
+11 -3
View File
@@ -9,8 +9,11 @@ from v1.fall_state import Evidence, FallState
class FallEvidencePolicy:
"""Require a recent rapid drop before a horizontal pose becomes a candidate."""
def __init__(self, suspect_window_seconds: float) -> None:
def __init__(
self, suspect_window_seconds: float, require_rapid_drop: bool = True
) -> None:
self._suspect_window_seconds = float(suspect_window_seconds)
self._require_rapid_drop = bool(require_rapid_drop)
self._rapid_drop_at: Dict[str, float] = {}
def evaluate(
@@ -30,8 +33,13 @@ class FallEvidencePolicy:
candidate = False
if state is FallState.SUSPECT:
candidate = pose_evidence.horizontal_pose
elif pose_evidence.horizontal_pose and track_id in self._rapid_drop_at:
candidate = timestamp - self._rapid_drop_at[track_id] <= self._suspect_window_seconds
elif pose_evidence.horizontal_pose:
if not self._require_rapid_drop:
candidate = True
elif track_id in self._rapid_drop_at:
candidate = (
timestamp - self._rapid_drop_at[track_id] <= self._suspect_window_seconds
)
recovery = (
state in (FallState.CONFIRMED, FallState.RECOVERING)
v1/pipeline.py
+14 -2
View File
@@ -49,6 +49,8 @@ class FallPipeline:
policy: FallEvidencePolicy,
state_machine: FallStateMachine,
keypoint_confidence_threshold: float,
require_lower_body: bool = True,
horizontal_angle_threshold_degrees: float = 35.0,
) -> None:
if not 0.0 <= keypoint_confidence_threshold <= 1.0:
raise ValueError("keypoint_confidence_threshold must be between 0 and 1")
@@ -57,6 +59,8 @@ class FallPipeline:
self._policy = policy
self._state_machine = state_machine
self._keypoint_confidence_threshold = float(keypoint_confidence_threshold)
self._require_lower_body = bool(require_lower_body)
self._horizontal_angle_threshold_degrees = float(horizontal_angle_threshold_degrees)
self._previous_evidence: Dict[str, PoseEvidence] = {}
self._active_track_ids = set()
@@ -74,7 +78,10 @@ class FallPipeline:
return cls(
pose_adapter=pose_adapter,
tracker=PersonTracker(),
policy=FallEvidencePolicy(config.event.suspect_window_seconds),
policy=FallEvidencePolicy(
config.event.suspect_window_seconds,
require_rapid_drop=config.event.require_rapid_drop,
),
state_machine=FallStateMachine(
confirm_window_seconds=config.event.confirm_window_seconds,
recovery_window_seconds=config.event.recovery_window_seconds,
@@ -83,6 +90,8 @@ class FallPipeline:
session_id=session_id or new_session_id(),
),
keypoint_confidence_threshold=config.event.keypoint_confidence_threshold,
require_lower_body=config.event.require_lower_body,
horizontal_angle_threshold_degrees=config.event.horizontal_angle_threshold_degrees,
)
def process(self, packet: FramePacket) -> FrameAnalysis:
@@ -102,12 +111,15 @@ class FallPipeline:
people = []
for tracked in tracked_poses:
quality = assess_pose_quality(
tracked.pose, threshold=self._keypoint_confidence_threshold
tracked.pose,
threshold=self._keypoint_confidence_threshold,
require_lower_body=self._require_lower_body,
)
pose_evidence = extract_evidence(
tracked.pose,
quality=quality,
previous=self._previous_evidence.get(tracked.track_id),
horizontal_angle_threshold_degrees=self._horizontal_angle_threshold_degrees,
)
state_before = self._state_machine.state_of(tracked.track_id)
evidence = self._policy.evaluate(
v1/tests/test_config.py
+14
View File
@@ -140,6 +140,20 @@ def test_public_example_config_has_no_embedded_credentials():
assert "rtsp_url_env" in source
def test_sensitivity_fields_default_to_lenient(tmp_path):
config_file = tmp_path / "config.json"
_write_config(
config_file,
{"id": "c", "host": "192.0.2.10", "username": "u", "password": "p"},
)
config = load_config(config_file)
assert config.event.require_rapid_drop is False
assert config.event.require_lower_body is False
assert config.event.horizontal_angle_threshold_degrees == 45.0
def test_build_ffmpeg_options_variants():
assert build_ffmpeg_options() == "rtsp_transport;tcp|stimeout;5000000|fflags;nobuffer|flags;low_delay"
assert build_ffmpeg_options("udp", 3, False) == "rtsp_transport;udp|stimeout;3000000"
v1/tests/test_evidence.py
+8
View File
@@ -36,6 +36,14 @@ def test_missing_ankles_rejects_pose():
assert quality.reason == "required_joint_low_confidence"
def test_missing_ankles_accepted_when_lower_body_not_required():
quality = assess_pose_quality(
_pose(missing_ankles=True), threshold=0.4, require_lower_body=False
)
assert quality.accepted is True
def test_horizontal_body_is_evidence_not_event():
pose = _pose(horizontal=True)
quality = assess_pose_quality(pose, threshold=0.4)
v1/tests/test_fall_policy.py
+14
View File
@@ -42,6 +42,20 @@ def test_rejected_pose_clears_pending_drop_before_the_next_horizontal_pose():
assert candidate.is_fall_candidate is False
def test_horizontal_pose_alone_starts_candidate_when_rapid_drop_not_required():
policy = FallEvidencePolicy(suspect_window_seconds=0.5, require_rapid_drop=False)
candidate = policy.evaluate(
"P-0001", _evidence(horizontal=True), now=0.0, state=FallState.NORMAL
)
upright = policy.evaluate(
"P-0002", _evidence(horizontal=False), now=0.0, state=FallState.NORMAL
)
assert candidate.is_fall_candidate is True
assert upright.is_fall_candidate is False
def test_upright_pose_is_recovery_evidence_only_after_confirmation():
policy = FallEvidencePolicy(suspect_window_seconds=0.5)