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Adjust stationary reqs depending on state (#11226)

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Nicolas Mowen 2024-05-03 16:28:06 -06:00 committed by GitHub
parent 216e44bc34
commit f0054ceba4
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1 changed files with 16 additions and 7 deletions
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23
frigate/track/norfair_tracker.py
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@ -22,8 +22,9 @@ from frigate.util.object import average_boxes, median_of_boxes
logger = logging.getLogger(__name__)
THRESHOLD_ACTIVE_IOU = 0.35
THRESHOLD_STATIONARY_IOU = 0.7
THRESHOLD_KNOWN_ACTIVE_IOU = 0.2
THRESHOLD_STATIONARY_CHECK_IOU = 0.6
THRESHOLD_ACTIVE_CHECK_IOU = 0.9
MAX_STATIONARY_HISTORY = 10
@ -146,7 +147,7 @@ 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]):
def update_position(self, id: str, box: list[int, int, int, int], stationary: bool):
xmin, ymin, xmax, ymax = box
position = self.positions[id]
self.stationary_box_history[id].append(box)
@ -162,7 +163,7 @@ class NorfairTracker(ObjectTracker):
# object has minimal or zero iou
# assume object is active
if avg_iou < THRESHOLD_ACTIVE_IOU:
if avg_iou < THRESHOLD_KNOWN_ACTIVE_IOU:
self.positions[id] = {
"xmins": [xmin],
"ymins": [ymin],
@ -175,8 +176,12 @@ class NorfairTracker(ObjectTracker):
}
return False
threshold = (
THRESHOLD_STATIONARY_CHECK_IOU if stationary else THRESHOLD_ACTIVE_CHECK_IOU
)
# object has iou below threshold, check median to reduce outliers
if avg_iou < THRESHOLD_STATIONARY_IOU:
if avg_iou < threshold:
median_iou = intersection_over_union(
(
position["xmin"],
@ -189,7 +194,7 @@ class NorfairTracker(ObjectTracker):
# if the median iou drops below the threshold
# assume object is no longer stationary
if median_iou < THRESHOLD_STATIONARY_IOU:
if median_iou < threshold:
self.positions[id] = {
"xmins": [xmin],
"ymins": [ymin],
@ -240,8 +245,12 @@ class NorfairTracker(ObjectTracker):
def update(self, track_id, obj):
id = self.track_id_map[track_id]
self.disappeared[id] = 0
stationary = (
self.tracked_objects[id]["motionless_count"]
>= self.detect_config.stationary.threshold
)
# update the motionless count if the object has not moved to a new position
if self.update_position(id, obj["box"]):
if self.update_position(id, obj["box"], stationary):
self.tracked_objects[id]["motionless_count"] += 1
if self.is_expired(id):
self.deregister(id, track_id)