From 5a49d1f73cbd5fbaebb00ddf4344e88c6a14ecd1 Mon Sep 17 00:00:00 2001
From: Nicolas Mowen <nickmowen213@gmail.com>
Date: Sun, 17 Aug 2025 11:27:42 -0600
Subject: [PATCH] Enable mypy for `track` and fix typing errors (#19529)

* Enable mypy for track

* WIP cleaning up tracked object

* Fix tracked object typing

* Fix typing and imports of centroid tracker

* Cleanup typing

* Cleanup

* Formatting

* Fix imports

* Don't specify callable type

* Type out json setting
---
 frigate/camera/state.py            |   4 +-
 frigate/comms/events_updater.py    |   4 +-
 frigate/comms/zmq_proxy.py         |  12 +--
 frigate/mypy.ini                   |   3 +
 frigate/ptz/autotrack.py           |   4 +-
 frigate/track/__init__.py          |   5 +-
 frigate/track/centroid_tracker.py  |  50 +++++++------
 frigate/track/norfair_tracker.py   |  68 +++++++++--------
 frigate/track/object_processing.py |  89 ++++++++++++----------
 frigate/track/tracked_object.py    | 115 ++++++++++++++++-------------
 10 files changed, 194 insertions(+), 160 deletions(-)

diff --git a/frigate/camera/state.py b/frigate/camera/state.py
index a1041e95b..328c7bd23 100644
--- a/frigate/camera/state.py
+++ b/frigate/camera/state.py
@@ -54,7 +54,7 @@ class CameraState:
         self.ptz_autotracker_thread = ptz_autotracker_thread
         self.prev_enabled = self.camera_config.enabled
 
-    def get_current_frame(self, draw_options: dict[str, Any] = {}):
+    def get_current_frame(self, draw_options: dict[str, Any] = {}) -> np.ndarray:
         with self.current_frame_lock:
             frame_copy = np.copy(self._current_frame)
             frame_time = self.current_frame_time
@@ -272,7 +272,7 @@ class CameraState:
     def finished(self, obj_id):
         del self.tracked_objects[obj_id]
 
-    def on(self, event_type: str, callback: Callable[[dict], None]):
+    def on(self, event_type: str, callback: Callable):
         self.callbacks[event_type].append(callback)
 
     def update(
diff --git a/frigate/comms/events_updater.py b/frigate/comms/events_updater.py
index f25f760ac..cfd958d2c 100644
--- a/frigate/comms/events_updater.py
+++ b/frigate/comms/events_updater.py
@@ -8,7 +8,7 @@ from .zmq_proxy import Publisher, Subscriber
 
 
 class EventUpdatePublisher(
-    Publisher[tuple[EventTypeEnum, EventStateEnum, str, str, dict[str, Any]]]
+    Publisher[tuple[EventTypeEnum, EventStateEnum, str | None, str, dict[str, Any]]]
 ):
     """Publishes events (objects, audio, manual)."""
 
@@ -19,7 +19,7 @@ class EventUpdatePublisher(
 
     def publish(
         self,
-        payload: tuple[EventTypeEnum, EventStateEnum, str, str, dict[str, Any]],
+        payload: tuple[EventTypeEnum, EventStateEnum, str | None, str, dict[str, Any]],
         sub_topic: str = "",
     ) -> None:
         super().publish(payload, sub_topic)
diff --git a/frigate/comms/zmq_proxy.py b/frigate/comms/zmq_proxy.py
index 72a61d814..29329ec59 100644
--- a/frigate/comms/zmq_proxy.py
+++ b/frigate/comms/zmq_proxy.py
@@ -2,7 +2,7 @@
 
 import json
 import threading
-from typing import Any, Generic, Optional, TypeVar
+from typing import Generic, TypeVar
 
 import zmq
 
@@ -70,7 +70,7 @@ class Publisher(Generic[T]):
         self.context.destroy()
 
 
-class Subscriber:
+class Subscriber(Generic[T]):
     """Receives messages."""
 
     topic_base: str = ""
@@ -82,9 +82,7 @@ class Subscriber:
         self.socket.setsockopt_string(zmq.SUBSCRIBE, self.topic)
         self.socket.connect(SOCKET_SUB)
 
-    def check_for_update(
-        self, timeout: float | None = FAST_QUEUE_TIMEOUT
-    ) -> tuple[str, Any] | tuple[None, None] | None:
+    def check_for_update(self, timeout: float | None = FAST_QUEUE_TIMEOUT) -> T | None:
         """Returns message or None if no update."""
         try:
             has_update, _, _ = zmq.select([self.socket], [], [], timeout)
@@ -101,7 +99,5 @@ class Subscriber:
         self.socket.close()
         self.context.destroy()
 
-    def _return_object(
-        self, topic: str, payload: Optional[tuple[str, Any]]
-    ) -> tuple[str, Any] | tuple[None, None] | None:
+    def _return_object(self, topic: str, payload: T | None) -> T | None:
         return payload
diff --git a/frigate/mypy.ini b/frigate/mypy.ini
index f99f31ac5..5bad10f49 100644
--- a/frigate/mypy.ini
+++ b/frigate/mypy.ini
@@ -53,6 +53,9 @@ ignore_errors = false
 [mypy-frigate.stats]
 ignore_errors = false
 
+[mypy-frigate.track.*]
+ignore_errors = false
+
 [mypy-frigate.types]
 ignore_errors = false
 
diff --git a/frigate/ptz/autotrack.py b/frigate/ptz/autotrack.py
index f0d8419dd..beecc62ab 100644
--- a/frigate/ptz/autotrack.py
+++ b/frigate/ptz/autotrack.py
@@ -60,10 +60,10 @@ class PtzMotionEstimator:
 
     def motion_estimator(
         self,
-        detections: list[dict[str, Any]],
+        detections: list[tuple[Any, Any, Any, Any, Any, Any]],
         frame_name: str,
         frame_time: float,
-        camera: str,
+        camera: str | None,
     ):
         # If we've just started up or returned to our preset, reset motion estimator for new tracking session
         if self.ptz_metrics.reset.is_set():
diff --git a/frigate/track/__init__.py b/frigate/track/__init__.py
index dc72be4f0..b5453aaeb 100644
--- a/frigate/track/__init__.py
+++ b/frigate/track/__init__.py
@@ -11,6 +11,9 @@ class ObjectTracker(ABC):
 
     @abstractmethod
     def match_and_update(
-        self, frame_name: str, frame_time: float, detections: list[dict[str, Any]]
+        self,
+        frame_name: str,
+        frame_time: float,
+        detections: list[tuple[Any, Any, Any, Any, Any, Any]],
     ) -> None:
         pass
diff --git a/frigate/track/centroid_tracker.py b/frigate/track/centroid_tracker.py
index 25d4cb860..56f20629c 100644
--- a/frigate/track/centroid_tracker.py
+++ b/frigate/track/centroid_tracker.py
@@ -1,25 +1,26 @@
 import random
 import string
 from collections import defaultdict
+from typing import Any
 
 import numpy as np
 from scipy.spatial import distance as dist
 
 from frigate.config import DetectConfig
 from frigate.track import ObjectTracker
-from frigate.util import intersection_over_union
+from frigate.util.image import intersection_over_union
 
 
 class CentroidTracker(ObjectTracker):
     def __init__(self, config: DetectConfig):
-        self.tracked_objects = {}
-        self.untracked_object_boxes = []
-        self.disappeared = {}
-        self.positions = {}
+        self.tracked_objects: dict[str, dict[str, Any]] = {}
+        self.untracked_object_boxes: list[tuple[int, int, int, int]] = []
+        self.disappeared: dict[str, Any] = {}
+        self.positions: dict[str, Any] = {}
         self.max_disappeared = config.max_disappeared
         self.detect_config = config
 
-    def register(self, index, obj):
+    def register(self, obj: dict[str, Any]) -> None:
         rand_id = "".join(random.choices(string.ascii_lowercase + string.digits, k=6))
         id = f"{obj['frame_time']}-{rand_id}"
         obj["id"] = id
@@ -39,13 +40,13 @@ class CentroidTracker(ObjectTracker):
             "ymax": self.detect_config.height,
         }
 
-    def deregister(self, id):
+    def deregister(self, id: str) -> None:
         del self.tracked_objects[id]
         del self.disappeared[id]
 
     # tracks the current position of the object based on the last N bounding boxes
     # returns False if the object has moved outside its previous position
-    def update_position(self, id, box):
+    def update_position(self, id: str, box: tuple[int, int, int, int]) -> bool:
         position = self.positions[id]
         position_box = (
             position["xmin"],
@@ -88,7 +89,7 @@ class CentroidTracker(ObjectTracker):
 
         return True
 
-    def is_expired(self, id):
+    def is_expired(self, id: str) -> bool:
         obj = self.tracked_objects[id]
         # get the max frames for this label type or the default
         max_frames = self.detect_config.stationary.max_frames.objects.get(
@@ -108,7 +109,7 @@ class CentroidTracker(ObjectTracker):
 
         return False
 
-    def update(self, id, new_obj):
+    def update(self, id: str, new_obj: dict[str, Any]) -> None:
         self.disappeared[id] = 0
         # update the motionless count if the object has not moved to a new position
         if self.update_position(id, new_obj["box"]):
@@ -129,25 +130,30 @@ class CentroidTracker(ObjectTracker):
 
         self.tracked_objects[id].update(new_obj)
 
-    def update_frame_times(self, frame_name, frame_time):
+    def update_frame_times(self, frame_name: str, frame_time: float) -> None:
         for id in list(self.tracked_objects.keys()):
             self.tracked_objects[id]["frame_time"] = frame_time
             self.tracked_objects[id]["motionless_count"] += 1
             if self.is_expired(id):
                 self.deregister(id)
 
-    def match_and_update(self, frame_time, detections):
+    def match_and_update(
+        self,
+        frame_name: str,
+        frame_time: float,
+        detections: list[tuple[Any, Any, Any, Any, Any, Any]],
+    ) -> None:
         # group by name
         detection_groups = defaultdict(lambda: [])
-        for obj in detections:
-            detection_groups[obj[0]].append(
+        for det in detections:
+            detection_groups[det[0]].append(
                 {
-                    "label": obj[0],
-                    "score": obj[1],
-                    "box": obj[2],
-                    "area": obj[3],
-                    "ratio": obj[4],
-                    "region": obj[5],
+                    "label": det[0],
+                    "score": det[1],
+                    "box": det[2],
+                    "area": det[3],
+                    "ratio": det[4],
+                    "region": det[5],
                     "frame_time": frame_time,
                 }
             )
@@ -180,7 +186,7 @@ class CentroidTracker(ObjectTracker):
 
             if len(current_objects) == 0:
                 for index, obj in enumerate(group):
-                    self.register(index, obj)
+                    self.register(obj)
                 continue
 
             new_centroids = np.array([o["centroid"] for o in group])
@@ -238,4 +244,4 @@ class CentroidTracker(ObjectTracker):
             # register each new input centroid as a trackable object
             else:
                 for col in unusedCols:
-                    self.register(col, group[col])
+                    self.register(group[col])
diff --git a/frigate/track/norfair_tracker.py b/frigate/track/norfair_tracker.py
index 900971e0d..5bb15f94e 100644
--- a/frigate/track/norfair_tracker.py
+++ b/frigate/track/norfair_tracker.py
@@ -13,6 +13,7 @@ from norfair import (
     draw_boxes,
 )
 from norfair.drawing.drawer import Drawer
+from norfair.tracker import TrackedObject
 from rich import print
 from rich.console import Console
 from rich.table import Table
@@ -43,7 +44,7 @@ MAX_STATIONARY_HISTORY = 10
 # - could be variable based on time since last_detection
 # - include estimated velocity in the distance (car driving by of a parked car)
 # - include some visual similarity factor in the distance for occlusions
-def distance(detection: np.array, estimate: np.array) -> float:
+def distance(detection: np.ndarray, estimate: np.ndarray) -> float:
     # ultimately, this should try and estimate distance in 3-dimensional space
     # consider change in location, width, and height
 
@@ -73,14 +74,16 @@ def distance(detection: np.array, estimate: np.array) -> float:
     change = np.append(distance, np.array([width_ratio, height_ratio]))
 
     # calculate euclidean distance of the change vector
-    return np.linalg.norm(change)
+    return float(np.linalg.norm(change))
 
 
-def frigate_distance(detection: Detection, tracked_object) -> float:
+def frigate_distance(detection: Detection, tracked_object: TrackedObject) -> float:
     return distance(detection.points, tracked_object.estimate)
 
 
-def histogram_distance(matched_not_init_trackers, unmatched_trackers):
+def histogram_distance(
+    matched_not_init_trackers: TrackedObject, unmatched_trackers: TrackedObject
+) -> float:
     snd_embedding = unmatched_trackers.last_detection.embedding
 
     if snd_embedding is None:
@@ -110,17 +113,17 @@ class NorfairTracker(ObjectTracker):
         ptz_metrics: PTZMetrics,
     ):
         self.frame_manager = SharedMemoryFrameManager()
-        self.tracked_objects = {}
+        self.tracked_objects: dict[str, dict[str, Any]] = {}
         self.untracked_object_boxes: list[list[int]] = []
-        self.disappeared = {}
-        self.positions = {}
-        self.stationary_box_history: dict[str, list[list[int, int, int, int]]] = {}
+        self.disappeared: dict[str, int] = {}
+        self.positions: dict[str, dict[str, Any]] = {}
+        self.stationary_box_history: dict[str, list[list[int]]] = {}
         self.camera_config = config
         self.detect_config = config.detect
         self.ptz_metrics = ptz_metrics
-        self.ptz_motion_estimator = {}
+        self.ptz_motion_estimator: PtzMotionEstimator | None = None
         self.camera_name = config.name
-        self.track_id_map = {}
+        self.track_id_map: dict[str, str] = {}
 
         # Define tracker configurations for static camera
         self.object_type_configs = {
@@ -169,7 +172,7 @@ class NorfairTracker(ObjectTracker):
             "distance_threshold": 3,
         }
 
-        self.trackers = {}
+        self.trackers: dict[str, dict[str, Tracker]] = {}
         # Handle static trackers
         for obj_type, tracker_config in self.object_type_configs.items():
             if obj_type in self.camera_config.objects.track:
@@ -216,7 +219,7 @@ class NorfairTracker(ObjectTracker):
                 self.camera_config, self.ptz_metrics
             )
 
-    def _create_tracker(self, obj_type, tracker_config):
+    def _create_tracker(self, obj_type: str, tracker_config: dict[str, Any]) -> Tracker:
         """Helper function to create a tracker with given configuration."""
         tracker_params = {
             "distance_function": tracker_config["distance_function"],
@@ -258,7 +261,7 @@ class NorfairTracker(ObjectTracker):
             return self.trackers[object_type][mode]
         return self.default_tracker[mode]
 
-    def register(self, track_id, obj):
+    def register(self, track_id: str, obj: dict[str, Any]) -> None:
         rand_id = "".join(random.choices(string.ascii_lowercase + string.digits, k=6))
         id = f"{obj['frame_time']}-{rand_id}"
         self.track_id_map[track_id] = id
@@ -297,7 +300,7 @@ class NorfairTracker(ObjectTracker):
         }
         self.stationary_box_history[id] = boxes
 
-    def deregister(self, id, track_id):
+    def deregister(self, id: str, track_id: str) -> None:
         obj = self.tracked_objects[id]
 
         del self.tracked_objects[id]
@@ -321,7 +324,7 @@ class NorfairTracker(ObjectTracker):
 
     # tracks the current position of the object based on the last N bounding boxes
     # returns False if the object has moved outside its previous position
-    def update_position(self, id: str, box: list[int, int, int, int], stationary: bool):
+    def update_position(self, id: str, box: list[int], stationary: bool) -> bool:
         xmin, ymin, xmax, ymax = box
         position = self.positions[id]
         self.stationary_box_history[id].append(box)
@@ -396,7 +399,7 @@ class NorfairTracker(ObjectTracker):
 
         return True
 
-    def is_expired(self, id):
+    def is_expired(self, id: str) -> bool:
         obj = self.tracked_objects[id]
         # get the max frames for this label type or the default
         max_frames = self.detect_config.stationary.max_frames.objects.get(
@@ -416,7 +419,7 @@ class NorfairTracker(ObjectTracker):
 
         return False
 
-    def update(self, track_id, obj):
+    def update(self, track_id: str, obj: dict[str, Any]) -> None:
         id = self.track_id_map[track_id]
         self.disappeared[id] = 0
         stationary = (
@@ -443,7 +446,7 @@ class NorfairTracker(ObjectTracker):
 
         self.tracked_objects[id].update(obj)
 
-    def update_frame_times(self, frame_name: str, frame_time: float):
+    def update_frame_times(self, frame_name: str, frame_time: float) -> None:
         # if the object was there in the last frame, assume it's still there
         detections = [
             (
@@ -460,10 +463,13 @@ class NorfairTracker(ObjectTracker):
         self.match_and_update(frame_name, frame_time, detections=detections)
 
     def match_and_update(
-        self, frame_name: str, frame_time: float, detections: list[dict[str, Any]]
-    ):
+        self,
+        frame_name: str,
+        frame_time: float,
+        detections: list[tuple[Any, Any, Any, Any, Any, Any]],
+    ) -> None:
         # Group detections by object type
-        detections_by_type = {}
+        detections_by_type: dict[str, list[Detection]] = {}
         for obj in detections:
             label = obj[0]
             if label not in detections_by_type:
@@ -551,17 +557,17 @@ class NorfairTracker(ObjectTracker):
             estimate = (
                 max(0, estimate[0]),
                 max(0, estimate[1]),
-                min(self.detect_config.width - 1, estimate[2]),
-                min(self.detect_config.height - 1, estimate[3]),
+                min(self.detect_config.width - 1, estimate[2]),  # type: ignore[operator]
+                min(self.detect_config.height - 1, estimate[3]),  # type: ignore[operator]
             )
-            obj = {
+            new_obj = {
                 **t.last_detection.data,
                 "estimate": estimate,
                 "estimate_velocity": t.estimate_velocity,
             }
             active_ids.append(t.global_id)
             if t.global_id not in self.track_id_map:
-                self.register(t.global_id, obj)
+                self.register(t.global_id, new_obj)
             # if there wasn't a detection in this frame, increment disappeared
             elif t.last_detection.data["frame_time"] != frame_time:
                 id = self.track_id_map[t.global_id]
@@ -569,10 +575,10 @@ class NorfairTracker(ObjectTracker):
                 # sometimes the estimate gets way off
                 # only update if the upper left corner is actually upper left
                 if estimate[0] < estimate[2] and estimate[1] < estimate[3]:
-                    self.tracked_objects[id]["estimate"] = obj["estimate"]
+                    self.tracked_objects[id]["estimate"] = new_obj["estimate"]
             # else update it
             else:
-                self.update(t.global_id, obj)
+                self.update(t.global_id, new_obj)
 
         # clear expired tracks
         expired_ids = [k for k in self.track_id_map.keys() if k not in active_ids]
@@ -585,7 +591,7 @@ class NorfairTracker(ObjectTracker):
             o[2] for o in detections if o[2] not in tracked_object_boxes
         ]
 
-    def print_objects_as_table(self, tracked_objects: Sequence):
+    def print_objects_as_table(self, tracked_objects: Sequence) -> None:
         """Used for helping in debugging"""
         print()
         console = Console()
@@ -605,13 +611,13 @@ class NorfairTracker(ObjectTracker):
             )
         console.print(table)
 
-    def debug_draw(self, frame, frame_time):
+    def debug_draw(self, frame: np.ndarray, frame_time: float) -> None:
         # Collect all tracked objects from each tracker
         all_tracked_objects = []
 
         # print a table to the console with norfair tracked object info
         if False:
-            if len(self.trackers["license_plate"]["static"].tracked_objects) > 0:
+            if len(self.trackers["license_plate"]["static"].tracked_objects) > 0:  # type: ignore[unreachable]
                 self.print_objects_as_table(
                     self.trackers["license_plate"]["static"].tracked_objects
                 )
@@ -662,7 +668,7 @@ class NorfairTracker(ObjectTracker):
 
         if False:
             # draw the current formatted time on the frame
-            from datetime import datetime
+            from datetime import datetime  # type: ignore[unreachable]
 
             formatted_time = datetime.fromtimestamp(frame_time).strftime(
                 "%m/%d/%Y %I:%M:%S %p"
diff --git a/frigate/track/object_processing.py b/frigate/track/object_processing.py
index 5ffd14446..25128d6df 100644
--- a/frigate/track/object_processing.py
+++ b/frigate/track/object_processing.py
@@ -6,6 +6,7 @@ import queue
 import threading
 from collections import defaultdict
 from enum import Enum
+from multiprocessing import Queue as MpQueue
 from multiprocessing.synchronize import Event as MpEvent
 from typing import Any
 
@@ -39,6 +40,7 @@ from frigate.const import (
 )
 from frigate.events.types import EventStateEnum, EventTypeEnum
 from frigate.models import Event, ReviewSegment, Timeline
+from frigate.ptz.autotrack import PtzAutoTrackerThread
 from frigate.track.tracked_object import TrackedObject
 from frigate.util.image import SharedMemoryFrameManager
 
@@ -56,10 +58,10 @@ class TrackedObjectProcessor(threading.Thread):
         self,
         config: FrigateConfig,
         dispatcher: Dispatcher,
-        tracked_objects_queue,
-        ptz_autotracker_thread,
-        stop_event,
-    ):
+        tracked_objects_queue: MpQueue,
+        ptz_autotracker_thread: PtzAutoTrackerThread,
+        stop_event: MpEvent,
+    ) -> None:
         super().__init__(name="detected_frames_processor")
         self.config = config
         self.dispatcher = dispatcher
@@ -98,8 +100,12 @@ class TrackedObjectProcessor(threading.Thread):
         #       }
         #   }
         # }
-        self.zone_data = defaultdict(lambda: defaultdict(dict))
-        self.active_zone_data = defaultdict(lambda: defaultdict(dict))
+        self.zone_data: dict[str, dict[str, Any]] = defaultdict(
+            lambda: defaultdict(dict)
+        )
+        self.active_zone_data: dict[str, dict[str, Any]] = defaultdict(
+            lambda: defaultdict(dict)
+        )
 
         for camera in self.config.cameras.keys():
             self.create_camera_state(camera)
@@ -107,7 +113,7 @@ class TrackedObjectProcessor(threading.Thread):
     def create_camera_state(self, camera: str) -> None:
         """Creates a new camera state."""
 
-        def start(camera: str, obj: TrackedObject, frame_name: str):
+        def start(camera: str, obj: TrackedObject, frame_name: str) -> None:
             self.event_sender.publish(
                 (
                     EventTypeEnum.tracked_object,
@@ -118,7 +124,7 @@ class TrackedObjectProcessor(threading.Thread):
                 )
             )
 
-        def update(camera: str, obj: TrackedObject, frame_name: str):
+        def update(camera: str, obj: TrackedObject, frame_name: str) -> None:
             obj.has_snapshot = self.should_save_snapshot(camera, obj)
             obj.has_clip = self.should_retain_recording(camera, obj)
             after = obj.to_dict()
@@ -139,10 +145,10 @@ class TrackedObjectProcessor(threading.Thread):
                 )
             )
 
-        def autotrack(camera: str, obj: TrackedObject, frame_name: str):
+        def autotrack(camera: str, obj: TrackedObject, frame_name: str) -> None:
             self.ptz_autotracker_thread.ptz_autotracker.autotrack_object(camera, obj)
 
-        def end(camera: str, obj: TrackedObject, frame_name: str):
+        def end(camera: str, obj: TrackedObject, frame_name: str) -> None:
             # populate has_snapshot
             obj.has_snapshot = self.should_save_snapshot(camera, obj)
             obj.has_clip = self.should_retain_recording(camera, obj)
@@ -211,7 +217,7 @@ class TrackedObjectProcessor(threading.Thread):
 
             return False
 
-        def camera_activity(camera, activity):
+        def camera_activity(camera: str, activity: dict[str, Any]) -> None:
             last_activity = self.camera_activity.get(camera)
 
             if not last_activity or activity != last_activity:
@@ -229,7 +235,7 @@ class TrackedObjectProcessor(threading.Thread):
         camera_state.on("camera_activity", camera_activity)
         self.camera_states[camera] = camera_state
 
-    def should_save_snapshot(self, camera, obj: TrackedObject):
+    def should_save_snapshot(self, camera: str, obj: TrackedObject) -> bool:
         if obj.false_positive:
             return False
 
@@ -252,7 +258,7 @@ class TrackedObjectProcessor(threading.Thread):
 
         return True
 
-    def should_retain_recording(self, camera: str, obj: TrackedObject):
+    def should_retain_recording(self, camera: str, obj: TrackedObject) -> bool:
         if obj.false_positive:
             return False
 
@@ -272,7 +278,7 @@ class TrackedObjectProcessor(threading.Thread):
 
         return True
 
-    def should_mqtt_snapshot(self, camera, obj: TrackedObject):
+    def should_mqtt_snapshot(self, camera: str, obj: TrackedObject) -> bool:
         # object never changed position
         if obj.is_stationary():
             return False
@@ -287,7 +293,9 @@ class TrackedObjectProcessor(threading.Thread):
 
         return True
 
-    def update_mqtt_motion(self, camera, frame_time, motion_boxes):
+    def update_mqtt_motion(
+        self, camera: str, frame_time: float, motion_boxes: list
+    ) -> None:
         # publish if motion is currently being detected
         if motion_boxes:
             # only send ON if motion isn't already active
@@ -313,11 +321,15 @@ class TrackedObjectProcessor(threading.Thread):
                 # reset the last_motion so redundant `off` commands aren't sent
                 self.last_motion_detected[camera] = 0
 
-    def get_best(self, camera, label):
+    def get_best(self, camera: str, label: str) -> dict[str, Any]:
         # TODO: need a lock here
         camera_state = self.camera_states[camera]
         if label in camera_state.best_objects:
             best_obj = camera_state.best_objects[label]
+
+            if not best_obj.thumbnail_data:
+                return {}
+
             best = best_obj.thumbnail_data.copy()
             best["frame"] = camera_state.frame_cache.get(
                 best_obj.thumbnail_data["frame_time"]
@@ -340,7 +352,7 @@ class TrackedObjectProcessor(threading.Thread):
 
         return self.camera_states[camera].get_current_frame(draw_options)
 
-    def get_current_frame_time(self, camera) -> int:
+    def get_current_frame_time(self, camera: str) -> float:
         """Returns the latest frame time for a given camera."""
         return self.camera_states[camera].current_frame_time
 
@@ -348,7 +360,7 @@ class TrackedObjectProcessor(threading.Thread):
         self, event_id: str, sub_label: str | None, score: float | None
     ) -> None:
         """Update sub label for given event id."""
-        tracked_obj: TrackedObject = None
+        tracked_obj: TrackedObject | None = None
 
         for state in self.camera_states.values():
             tracked_obj = state.tracked_objects.get(event_id)
@@ -357,7 +369,7 @@ class TrackedObjectProcessor(threading.Thread):
                 break
 
         try:
-            event: Event = Event.get(Event.id == event_id)
+            event: Event | None = Event.get(Event.id == event_id)
         except DoesNotExist:
             event = None
 
@@ -368,12 +380,12 @@ class TrackedObjectProcessor(threading.Thread):
             tracked_obj.obj_data["sub_label"] = (sub_label, score)
 
         if event:
-            event.sub_label = sub_label
+            event.sub_label = sub_label  # type: ignore[assignment]
             data = event.data
             if sub_label is None:
-                data["sub_label_score"] = None
+                data["sub_label_score"] = None  # type: ignore[index]
             elif score is not None:
-                data["sub_label_score"] = score
+                data["sub_label_score"] = score  # type: ignore[index]
             event.data = data
             event.save()
 
@@ -402,7 +414,7 @@ class TrackedObjectProcessor(threading.Thread):
                 objects_list = []
                 sub_labels = set()
                 events = Event.select(Event.id, Event.label, Event.sub_label).where(
-                    Event.id.in_(detection_ids)
+                    Event.id.in_(detection_ids)  # type: ignore[call-arg, misc]
                 )
                 for det_event in events:
                     if det_event.sub_label:
@@ -431,13 +443,11 @@ class TrackedObjectProcessor(threading.Thread):
                     f"Updated sub_label for event {event_id} in review segment {review_segment.id}"
                 )
 
-            except ReviewSegment.DoesNotExist:
+            except DoesNotExist:
                 logger.debug(
                     f"No review segment found with event ID {event_id} when updating sub_label"
                 )
 
-        return True
-
     def set_object_attribute(
         self,
         event_id: str,
@@ -446,7 +456,7 @@ class TrackedObjectProcessor(threading.Thread):
         score: float | None,
     ) -> None:
         """Update attribute for given event id."""
-        tracked_obj: TrackedObject = None
+        tracked_obj: TrackedObject | None = None
 
         for state in self.camera_states.values():
             tracked_obj = state.tracked_objects.get(event_id)
@@ -455,7 +465,7 @@ class TrackedObjectProcessor(threading.Thread):
                 break
 
         try:
-            event: Event = Event.get(Event.id == event_id)
+            event: Event | None = Event.get(Event.id == event_id)
         except DoesNotExist:
             event = None
 
@@ -470,16 +480,14 @@ class TrackedObjectProcessor(threading.Thread):
 
         if event:
             data = event.data
-            data[field_name] = field_value
+            data[field_name] = field_value  # type: ignore[index]
             if field_value is None:
-                data[f"{field_name}_score"] = None
+                data[f"{field_name}_score"] = None  # type: ignore[index]
             elif score is not None:
-                data[f"{field_name}_score"] = score
+                data[f"{field_name}_score"] = score  # type: ignore[index]
             event.data = data
             event.save()
 
-        return True
-
     def save_lpr_snapshot(self, payload: tuple) -> None:
         # save the snapshot image
         (frame, event_id, camera) = payload
@@ -638,7 +646,7 @@ class TrackedObjectProcessor(threading.Thread):
             )
             self.ongoing_manual_events.pop(event_id)
 
-    def force_end_all_events(self, camera: str, camera_state: CameraState):
+    def force_end_all_events(self, camera: str, camera_state: CameraState) -> None:
         """Ends all active events on camera when disabling."""
         last_frame_name = camera_state.previous_frame_id
         for obj_id, obj in list(camera_state.tracked_objects.items()):
@@ -656,7 +664,7 @@ class TrackedObjectProcessor(threading.Thread):
                         {"enabled": False, "motion": 0, "objects": []},
                     )
 
-    def run(self):
+    def run(self) -> None:
         while not self.stop_event.is_set():
             # check for config updates
             updated_topics = self.camera_config_subscriber.check_for_updates()
@@ -698,11 +706,14 @@ class TrackedObjectProcessor(threading.Thread):
 
             # check for sub label updates
             while True:
-                (raw_topic, payload) = self.sub_label_subscriber.check_for_update(
-                    timeout=0
-                )
+                update = self.sub_label_subscriber.check_for_update(timeout=0)
 
-                if not raw_topic:
+                if not update:
+                    break
+
+                (raw_topic, payload) = update
+
+                if not raw_topic or not payload:
                     break
 
                 topic = str(raw_topic)
diff --git a/frigate/track/tracked_object.py b/frigate/track/tracked_object.py
index afe85228e..111dd2c40 100644
--- a/frigate/track/tracked_object.py
+++ b/frigate/track/tracked_object.py
@@ -5,18 +5,19 @@ import math
 import os
 from collections import defaultdict
 from statistics import median
-from typing import Any, Optional
+from typing import Any, Optional, cast
 
 import cv2
 import numpy as np
 
 from frigate.config import (
     CameraConfig,
-    ModelConfig,
+    FilterConfig,
     SnapshotsConfig,
     UIConfig,
 )
 from frigate.const import CLIPS_DIR, THUMB_DIR
+from frigate.detectors.detector_config import ModelConfig
 from frigate.review.types import SeverityEnum
 from frigate.util.builtin import sanitize_float
 from frigate.util.image import (
@@ -46,11 +47,11 @@ class TrackedObject:
         model_config: ModelConfig,
         camera_config: CameraConfig,
         ui_config: UIConfig,
-        frame_cache,
+        frame_cache: dict[float, dict[str, Any]],
         obj_data: dict[str, Any],
-    ):
+    ) -> None:
         # set the score history then remove as it is not part of object state
-        self.score_history = obj_data["score_history"]
+        self.score_history: list[float] = obj_data["score_history"]
         del obj_data["score_history"]
 
         self.obj_data = obj_data
@@ -61,24 +62,24 @@ class TrackedObject:
         self.frame_cache = frame_cache
         self.zone_presence: dict[str, int] = {}
         self.zone_loitering: dict[str, int] = {}
-        self.current_zones = []
-        self.entered_zones = []
-        self.attributes = defaultdict(float)
+        self.current_zones: list[str] = []
+        self.entered_zones: list[str] = []
+        self.attributes: dict[str, float] = defaultdict(float)
         self.false_positive = True
         self.has_clip = False
         self.has_snapshot = False
         self.top_score = self.computed_score = 0.0
-        self.thumbnail_data = None
+        self.thumbnail_data: dict[str, Any] | None = None
         self.last_updated = 0
         self.last_published = 0
         self.frame = None
         self.active = True
         self.pending_loitering = False
-        self.speed_history = []
-        self.current_estimated_speed = 0
-        self.average_estimated_speed = 0
+        self.speed_history: list[float] = []
+        self.current_estimated_speed: float = 0
+        self.average_estimated_speed: float = 0
         self.velocity_angle = 0
-        self.path_data = []
+        self.path_data: list[tuple[Any, float]] = []
         self.previous = self.to_dict()
 
     @property
@@ -111,7 +112,7 @@ class TrackedObject:
 
         return None
 
-    def _is_false_positive(self):
+    def _is_false_positive(self) -> bool:
         # once a true positive, always a true positive
         if not self.false_positive:
             return False
@@ -119,11 +120,13 @@ class TrackedObject:
         threshold = self.camera_config.objects.filters[self.obj_data["label"]].threshold
         return self.computed_score < threshold
 
-    def compute_score(self):
+    def compute_score(self) -> float:
         """get median of scores for object."""
         return median(self.score_history)
 
-    def update(self, current_frame_time: float, obj_data, has_valid_frame: bool):
+    def update(
+        self, current_frame_time: float, obj_data: dict[str, Any], has_valid_frame: bool
+    ) -> tuple[bool, bool, bool, bool]:
         thumb_update = False
         significant_change = False
         path_update = False
@@ -305,7 +308,7 @@ class TrackedObject:
                 k: self.attributes[k] for k in self.logos if k in self.attributes
             }
             if len(recognized_logos) > 0:
-                max_logo = max(recognized_logos, key=recognized_logos.get)
+                max_logo = max(recognized_logos, key=recognized_logos.get)  # type: ignore[arg-type]
 
                 # don't overwrite sub label if it is already set
                 if (
@@ -342,28 +345,30 @@ class TrackedObject:
             # update path
             width = self.camera_config.detect.width
             height = self.camera_config.detect.height
-            bottom_center = (
-                round(obj_data["centroid"][0] / width, 4),
-                round(obj_data["box"][3] / height, 4),
-            )
 
-            # calculate a reasonable movement threshold (e.g., 5% of the frame diagonal)
-            threshold = 0.05 * math.sqrt(width**2 + height**2) / max(width, height)
-
-            if not self.path_data:
-                self.path_data.append((bottom_center, obj_data["frame_time"]))
-                path_update = True
-            elif (
-                math.dist(self.path_data[-1][0], bottom_center) >= threshold
-                or len(self.path_data) == 1
-            ):
-                # check Euclidean distance before appending
-                self.path_data.append((bottom_center, obj_data["frame_time"]))
-                path_update = True
-                logger.debug(
-                    f"Point tracking: {obj_data['id']}, {bottom_center}, {obj_data['frame_time']}"
+            if width is not None and height is not None:
+                bottom_center = (
+                    round(obj_data["centroid"][0] / width, 4),
+                    round(obj_data["box"][3] / height, 4),
                 )
 
+                # calculate a reasonable movement threshold (e.g., 5% of the frame diagonal)
+                threshold = 0.05 * math.sqrt(width**2 + height**2) / max(width, height)
+
+                if not self.path_data:
+                    self.path_data.append((bottom_center, obj_data["frame_time"]))
+                    path_update = True
+                elif (
+                    math.dist(self.path_data[-1][0], bottom_center) >= threshold
+                    or len(self.path_data) == 1
+                ):
+                    # check Euclidean distance before appending
+                    self.path_data.append((bottom_center, obj_data["frame_time"]))
+                    path_update = True
+                    logger.debug(
+                        f"Point tracking: {obj_data['id']}, {bottom_center}, {obj_data['frame_time']}"
+                    )
+
         self.obj_data.update(obj_data)
         self.current_zones = current_zones
         logger.debug(
@@ -371,7 +376,7 @@ class TrackedObject:
         )
         return (thumb_update, significant_change, path_update, autotracker_update)
 
-    def to_dict(self):
+    def to_dict(self) -> dict[str, Any]:
         event = {
             "id": self.obj_data["id"],
             "camera": self.camera_config.name,
@@ -413,10 +418,8 @@ class TrackedObject:
         return not self.is_stationary()
 
     def is_stationary(self) -> bool:
-        return (
-            self.obj_data["motionless_count"]
-            > self.camera_config.detect.stationary.threshold
-        )
+        count = cast(int | float, self.obj_data["motionless_count"])
+        return count > (self.camera_config.detect.stationary.threshold or 50)
 
     def get_thumbnail(self, ext: str) -> bytes | None:
         img_bytes = self.get_img_bytes(
@@ -453,9 +456,9 @@ class TrackedObject:
     def get_img_bytes(
         self,
         ext: str,
-        timestamp=False,
-        bounding_box=False,
-        crop=False,
+        timestamp: bool = False,
+        bounding_box: bool = False,
+        crop: bool = False,
         height: int | None = None,
         quality: int | None = None,
     ) -> bytes | None:
@@ -532,18 +535,18 @@ class TrackedObject:
                 best_frame, dsize=(width, height), interpolation=cv2.INTER_AREA
             )
         if timestamp:
-            color = self.camera_config.timestamp_style.color
+            colors = self.camera_config.timestamp_style.color
             draw_timestamp(
                 best_frame,
                 self.thumbnail_data["frame_time"],
                 self.camera_config.timestamp_style.format,
                 font_effect=self.camera_config.timestamp_style.effect,
                 font_thickness=self.camera_config.timestamp_style.thickness,
-                font_color=(color.blue, color.green, color.red),
+                font_color=(colors.blue, colors.green, colors.red),
                 position=self.camera_config.timestamp_style.position,
             )
 
-        quality_params = None
+        quality_params = []
 
         if ext == "jpg":
             quality_params = [int(cv2.IMWRITE_JPEG_QUALITY), quality or 70]
@@ -596,6 +599,9 @@ class TrackedObject:
                     p.write(png_bytes)
 
     def write_thumbnail_to_disk(self) -> None:
+        if not self.camera_config.name:
+            return
+
         directory = os.path.join(THUMB_DIR, self.camera_config.name)
 
         if not os.path.exists(directory):
@@ -603,11 +609,14 @@ class TrackedObject:
 
         thumb_bytes = self.get_thumbnail("webp")
 
-        with open(os.path.join(directory, f"{self.obj_data['id']}.webp"), "wb") as f:
-            f.write(thumb_bytes)
+        if thumb_bytes:
+            with open(
+                os.path.join(directory, f"{self.obj_data['id']}.webp"), "wb"
+            ) as f:
+                f.write(thumb_bytes)
 
 
-def zone_filtered(obj: TrackedObject, object_config):
+def zone_filtered(obj: TrackedObject, object_config: dict[str, FilterConfig]) -> bool:
     object_name = obj.obj_data["label"]
 
     if object_name in object_config:
@@ -657,9 +666,9 @@ class TrackedObjectAttribute:
 
     def find_best_object(self, objects: list[dict[str, Any]]) -> Optional[str]:
         """Find the best attribute for each object and return its ID."""
-        best_object_area = None
-        best_object_id = None
-        best_object_label = None
+        best_object_area: float | None = None
+        best_object_id: str | None = None
+        best_object_label: str | None = None
 
         for obj in objects:
             if not box_inside(obj["box"], self.box):