Original Summary

I have a Xiaomi pan/tilt camera in the corner of my room that cost less than 2k. It now follows people and objects around on its own, and no frame ever leaves my LAN. I didn't flash it, open it, or downgrade anything. It's still on the stock firmware, 4.5.6_0450. The stock firmware already speaks a protocol that hands over video and accepts commands. go2rtc plus the go2rtc-xiaomi-control patch speaks it. After a one-time Xiaomi auth I get 1080p HEVC on my own machine. Moving the motor takes a single command with four possible values: left, right, up, down. The hard part was that the camera lies by omission. It replies "acknowledged" whether or not it actually moved. So I stopped trusting the ACK and measured the picture with block matching against a no-move baseline. That showed two things. First, the steps aren't symmetric. Left consistently moves further than right, so a step isn't a fixed angle. Second, there's about 1.4 seconds between sending a command and seeing the image move. Video arrives at 12fps, so a naive tracker fires around fifteen more commands before the first one lands, and the camera convulses. The fix was to make the loop deliberately blind. It ignores everything for 2 seconds after each move, which gives a real control rate of 0.5Hz. One step shifts the frame by 8 to 12%, so the dead zone has to be wider than that (I use 0.18). If it's tighter, the camera overshoots forever. On a Mac, detection runs on Apple's Vision framework through a small Swift helper, so there's no model download and responses come back in 10 to 30ms. A box I drew around a chair went from 0.76 centring error to 0.21 in three steps, then held. Off by default, manual control always wins, and if the dashboard tab closes the server stops the camera.   submitted by   /u/shravanrevanna [link]   [comments]

  • 情报分类：商业与市场研究
  • 分类依据：内容涉及商业、投资或市场动态
  • 信息来源：Reddit · SideProject
  • 发布时间：2026/10/12 19:04:28