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Isolate Move camera tracking from telemetry

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This commit is contained in:
Meta Vens 2026-07-12 21:21:39 +01:00
commit f5b0afd0d8
1 changed files with 49 additions and 22 deletions
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71
crates/muninn-daemon/src/main.rs
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@ -297,8 +297,7 @@ struct ActiveMoveMarkerCameraSource {
frame_source: MoveMarkerFrameSource,
sequence: u64,
#[cfg(feature = "psmoveapi-tracker")]
psmoveapi_tracker: Option<muninn_psmoveapi_tracker::PsmoveApiTracker>,
last_psmoveapi_calibration_at: Option<Instant>,
psmoveapi_observations: Option<mpsc::Receiver<Vec<muninn_psmoveapi_tracker::PsmoveApiObservation>>>,
}
#[derive(Clone, Debug, PartialEq, Eq)]
@ -4236,19 +4235,14 @@ fn active_move_marker_camera_sources(options: &Options) -> Vec<ActiveMoveMarkerC
options.host_id, source.camera_id
);
#[cfg(feature = "psmoveapi-tracker")]
let psmoveapi_tracker = if options.move_psmoveapi_tracker {
let psmoveapi_observations = if options.move_psmoveapi_tracker {
video_device_index(&source.device_path).and_then(|camera_index| {
match muninn_psmoveapi_tracker::PsmoveApiTracker::open(
Some(start_psmoveapi_tracker_worker(
source.camera_id.clone(),
camera_index,
options.move_tracker_exposure_milli as f32 / 1000.0,
&move_colors,
) {
Ok(tracker) => Some(tracker),
Err(error) => {
eprintln!("Muninn PSMoveAPI tracker failed camera={} path={}: {error}", source.camera_id, source.device_path.display());
None
}
}
move_colors.clone(),
))
})
} else {
None
@ -4276,8 +4270,7 @@ fn active_move_marker_camera_sources(options: &Options) -> Vec<ActiveMoveMarkerC
},
sequence: 0,
#[cfg(feature = "psmoveapi-tracker")]
psmoveapi_tracker,
last_psmoveapi_calibration_at: None,
psmoveapi_observations,
}
})
.collect()
@ -4300,15 +4293,13 @@ fn publish_move_marker_camera_frames(
frame_source.tracker_config.source_id_hash =
stable_marker_camera_source_hash(&frame_source);
#[cfg(feature = "psmoveapi-tracker")]
if let Some(tracker) = camera.psmoveapi_tracker.as_mut() {
let calibration_due = camera.last_psmoveapi_calibration_at
.is_none_or(|last| last.elapsed() >= Duration::from_secs(5));
if calibration_due {
tracker.calibrate_connected();
camera.last_psmoveapi_calibration_at = Some(Instant::now());
}
if let Some(receiver) = camera.psmoveapi_observations.as_ref() {
let observed_at = timestamp()?;
marker_candidates.extend(tracker.update().into_iter().map(|observation| {
let mut latest = None;
while let Ok(observations) = receiver.try_recv() {
latest = Some(observations);
}
marker_candidates.extend(latest.unwrap_or_default().into_iter().map(|observation| {
let radius = observation.radius_px.max(0.0);
MuninnMoveMarkerCandidateRecord {
stream_id: frame_source.stream_id.clone(),
@ -4351,6 +4342,42 @@ fn publish_move_marker_camera_frames(
Ok(())
}
#[cfg(feature = "psmoveapi-tracker")]
fn start_psmoveapi_tracker_worker(
camera_id: String,
camera_index: i32,
exposure: f32,
colors: Vec<(String, [u8; 3])>,
) -> mpsc::Receiver<Vec<muninn_psmoveapi_tracker::PsmoveApiObservation>> {
let (sender, receiver) = mpsc::sync_channel(1);
thread::spawn(move || {
let mut tracker = match muninn_psmoveapi_tracker::PsmoveApiTracker::open(
camera_index,
exposure,
&colors,
) {
Ok(tracker) => tracker,
Err(error) => {
eprintln!("Muninn PSMoveAPI tracker failed camera={camera_id} index={camera_index}: {error}");
return;
}
};
let mut last_calibration_at = Instant::now();
loop {
if last_calibration_at.elapsed() >= Duration::from_secs(5) {
tracker.calibrate_connected();
last_calibration_at = Instant::now();
}
let observations = tracker.update();
match sender.try_send(observations) {
Ok(()) | Err(mpsc::TrySendError::Full(_)) => {}
Err(mpsc::TrySendError::Disconnected(_)) => return,
}
}
});
receiver
}
fn video_device_index(path: &Path) -> Option<i32> {
path.file_name()?.to_str()?.strip_prefix("video")?.parse().ok()
}