revamp zooming to use area moving average

docs/docs/configuration/autotracking.md

@@ -141,7 +141,9 @@ In security and surveillance, it's common to use "spotter" cameras in combinatio
 
 ### The autotracker loses track of my object. Why?
 
-There are many reasons this could be the case. If you are using experimental zooming, your `zoom_factor` value might be too high, the object might be traveling too quickly, the scene might be too dark, there are not enough details in the scene (for example, a PTZ looking down on a driveway or other monotone background without any hard lines), or the scene is otherwise less than optimal for Frigate to maintain tracking.
+There are many reasons this could be the case. If you are using experimental zooming, your `zoom_factor` value might be too high, the object might be traveling too quickly, the scene might be too dark, there are not enough details in the scene (for example, a PTZ looking down on a driveway or other monotone background without a sufficient number of hard edges or corners), or the scene is otherwise less than optimal for Frigate to maintain tracking.
+
+Your camera's shutter speed may also be set too low so that blurring occurs with motion. Check your camera's firmware to see if you can increase the shutter speed.
 
 Watching Frigate's debug view can help to determine a possible cause. The autotracked object will have a thicker colored box around it.
 

frigate/ptz/autotrack.py

@@ -6,6 +6,7 @@ import os
 import queue
 import threading
 import time
+from collections import deque
 from functools import partial
 from multiprocessing.synchronize import Event as MpEvent
 
@@ -162,7 +163,7 @@ class PtzAutoTrackerThread(threading.Thread):
                     # disabled dynamically by mqtt
                     if self.ptz_autotracker.tracked_object.get(camera):
                         self.ptz_autotracker.tracked_object[camera] = None
-                        self.ptz_autotracker.tracked_object_previous[camera] = None
+                        self.ptz_autotracker.tracked_object_history[camera].clear()
 
         logger.info("Exiting autotracker...")
 
@@ -178,8 +179,8 @@ class PtzAutoTracker:
         self.onvif = onvif
         self.ptz_metrics = ptz_metrics
         self.tracked_object: dict[str, object] = {}
-        self.tracked_object_previous: dict[str, object] = {}
-        self.previous_frame_time: dict[str, object] = {}
+        self.tracked_object_history: dict[str, object] = {}
+        self.tracked_object_metrics: dict[str, object] = {}
         self.object_types: dict[str, object] = {}
         self.required_zones: dict[str, object] = {}
         self.move_queues: dict[str, object] = {}
@@ -191,8 +192,6 @@ class PtzAutoTracker:
         self.intercept: dict[str, object] = {}
         self.move_coefficients: dict[str, object] = {}
         self.zoom_factor: dict[str, object] = {}
-        self.original_target_box: dict[str, object] = {}
-        self.previous_target_box: dict[str, object] = {}
 
         # if cam is set to autotrack, onvif should be set up
         for camera, camera_config in self.config.cameras.items():
@@ -211,13 +210,15 @@ class PtzAutoTracker:
         self.zoom_factor[camera] = camera_config.onvif.autotracking.zoom_factor
 
         self.tracked_object[camera] = None
-        self.tracked_object_previous[camera] = None
+        self.tracked_object_history[camera] = deque(
+            maxlen=round(camera_config.detect.fps * 1.5)
+        )
+        self.tracked_object_metrics[camera] = {}
 
         self.calibrating[camera] = False
         self.move_metrics[camera] = []
         self.intercept[camera] = None
         self.move_coefficients[camera] = []
-        self.previous_target_box[camera] = 1
 
         self.move_queues[camera] = queue.Queue()
         self.move_queue_locks[camera] = threading.Lock()
@@ -400,11 +401,43 @@ class PtzAutoTracker:
 
         return np.dot(self.move_coefficients[camera], input_data)
 
-    def _process_move_queue(self, camera):
+    def _calculate_tracked_object_metrics(self, camera):
+        def remove_outliers(data):
+            Q1 = np.percentile(data, 25)
+            Q3 = np.percentile(data, 75)
+            IQR = Q3 - Q1
+            lower_bound = Q1 - 1.5 * IQR
+            upper_bound = Q3 + 1.5 * IQR
+            return [x for x in data if lower_bound <= x <= upper_bound]
+
         camera_config = self.config.cameras[camera]
         camera_width = camera_config.frame_shape[1]
         camera_height = camera_config.frame_shape[0]
 
+        # Extract areas and calculate weighted average
+        areas = [obj["area"] for obj in self.tracked_object_history[camera]]
+        filtered_areas = remove_outliers(areas)
+        weights = np.arange(1, len(filtered_areas) + 1)
+        weighted_area = np.average(filtered_areas, weights=weights)
+
+        self.tracked_object_metrics[camera]["target_box"] = weighted_area / (
+            camera_width * camera_height
+        )
+
+        # self.tracked_object_metrics[camera]["target_box"] = statistics.median(
+        #     [obj["area"] for obj in self.tracked_object_history[camera]]
+        # ) / (camera_width * camera_height)
+
+        if "original_target_box" not in self.tracked_object_metrics[camera]:
+            self.tracked_object_metrics[camera][
+                "original_target_box"
+            ] = self.tracked_object_metrics[camera]["target_box"]
+
+    def _process_move_queue(self, camera):
+        camera_config = self.config.cameras[camera]
+        camera_config.frame_shape[1]
+        camera_config.frame_shape[0]
+
         while True:
             move_data = self.move_queues[camera].get()
 
@@ -426,9 +459,13 @@ class PtzAutoTracker:
 
                 else:
                     if zoom != 0:
-                        self.previous_target_box[camera] = self.tracked_object[
-                            camera
-                        ].obj_data["area"] / (camera_width * camera_height)
+                        self.tracked_object_metrics[camera][
+                            "last_zoom_time"
+                        ] = frame_time
+                    if pan != 0 or tilt != 0:
+                        self.tracked_object_metrics[camera][
+                            "last_move_time"
+                        ] = frame_time
 
                     if (
                         self.config.cameras[camera].onvif.autotracking.zooming
@@ -531,6 +568,28 @@ class PtzAutoTracker:
         camera_height = camera_config.frame_shape[0]
         camera_fps = camera_config.detect.fps
 
+        def remove_outliers_iqr(arrays):
+            def is_valid(array):
+                Q1 = np.percentile(array, 25)
+                Q3 = np.percentile(array, 75)
+                IQR = Q3 - Q1
+                lower_bound = Q1 - 1.5 * IQR
+                upper_bound = Q3 + 1.5 * IQR
+                return (lower_bound <= array) & (array <= upper_bound)
+
+            valid_arrays = [array for array in arrays if is_valid(array[1] - array[0])]
+            return valid_arrays
+
+        bbox_start = obj.previous["box"]
+        bbox_end = obj.obj_data["box"]
+        start_time = obj.previous["frame_time"]
+        end_time = obj.obj_data["frame_time"]
+        velocity = [
+            round((end - start) / ((end_time - start_time) * camera_fps))
+            for start, end in zip(bbox_start, bbox_end)
+        ]
+        logger.debug(f"{camera}: Calculated velocity: {velocity}")
+
         velocities = obj.obj_data["estimate_velocity"]
         diff = np.abs(velocities[1] - velocities[0])
 
@@ -583,7 +642,7 @@ class PtzAutoTracker:
 
         # larger objects should lower the threshold, smaller objects should raise it
         scaling_factor = 1 - np.log(max_obj / max_frame)
-        distance_threshold = 0.1 * max_frame * (scaling_factor / 2)
+        distance_threshold = 0.1 * max_frame * scaling_factor
 
         logger.debug(
             f"{camera}: Distance: {centroid_distance}, threshold: {distance_threshold}"
@@ -598,15 +657,6 @@ class PtzAutoTracker:
         camera_height = camera_config.frame_shape[0]
         camera_fps = camera_config.detect.fps
 
-        # save target box area of initial zoom to be a limiter for the session
-        if (
-            self.original_target_box[camera] == 1
-            and self.previous_target_box[camera] != 1
-        ):
-            self.original_target_box[camera] = (
-                self.previous_target_box[camera] ** self.zoom_factor[camera]
-            )
-
         average_velocity, distance = self._get_valid_velocity(camera, obj)
 
         bb_left, bb_top, bb_right, bb_bottom = box
@@ -624,20 +674,19 @@ class PtzAutoTracker:
             velocity_threshold_x = camera_width * 0.02
             velocity_threshold_y = camera_height * 0.02
 
-        away_from_edge = (
-            bb_left > edge_threshold * camera_width
-            and bb_right < (1 - edge_threshold) * camera_width
-            and bb_top > edge_threshold * camera_height
-            and bb_bottom < (1 - edge_threshold) * camera_height
+        touching_frame_edges = int(
+            (bb_left < edge_threshold * camera_width)
+            + (bb_right > (1 - edge_threshold) * camera_width)
+            + (bb_top < edge_threshold * camera_height)
+            + (bb_bottom > (1 - edge_threshold) * camera_height)
         )
 
         # make sure object is centered in the frame
         below_distance_threshold = self._below_distance_threshold(camera, obj)
 
-        # ensure object isn't taking up too much of the frame
-        below_dimension_threshold = (bb_right - bb_left) / camera_width < 0.8 and (
+        below_dimension_threshold = (bb_right - bb_left) <= camera_width * 0.8 and (
             bb_bottom - bb_top
-        ) / camera_height < 0.8
+        ) <= camera_height * 0.8
 
         # ensure object is not moving quickly
         below_velocity_threshold = (
@@ -648,16 +697,25 @@ class PtzAutoTracker:
             or distance == -1
         )
 
-        target_box = obj.obj_data["area"] / (camera_width * camera_height)
+        below_area_threshold = (
+            self.tracked_object_metrics[camera]["target_box"]
+            < self.tracked_object_metrics[camera]["original_target_box"]
+        )
 
-        below_area_threshold = target_box < self.original_target_box[camera]
+        below_zoom_factored_threshold = (
+            self.tracked_object_metrics[camera]["original_target_box"]
+            ** self.zoom_factor[camera]
+            < 0.75
+        )
 
         # introduce some hysteresis to prevent a yo-yo zooming effect
-        zoom_out_hysteresis = target_box > (
-            self.previous_target_box[camera] * AUTOTRACKING_ZOOM_OUT_HYSTERESIS
+        zoom_out_hysteresis = self.tracked_object_metrics[camera]["target_box"] > (
+            self.tracked_object_metrics[camera]["original_target_box"]
+            * AUTOTRACKING_ZOOM_OUT_HYSTERESIS
         )
-        zoom_in_hysteresis = target_box < (
-            self.previous_target_box[camera] * AUTOTRACKING_ZOOM_IN_HYSTERESIS
+        zoom_in_hysteresis = self.tracked_object_metrics[camera]["target_box"] < (
+            self.tracked_object_metrics[camera]["original_target_box"]
+            * AUTOTRACKING_ZOOM_IN_HYSTERESIS
         )
 
         at_max_zoom = self.ptz_metrics[camera]["ptz_zoom_level"].value == 1
@@ -666,25 +724,19 @@ class PtzAutoTracker:
         # debug zooming
         if debug_zooming:
             logger.debug(
-                f"{camera}: Zoom test: far from left edge: {bb_left > edge_threshold * camera_width}"
-            )
-            logger.debug(
-                f"{camera}: Zoom test: far from right edge: {bb_right < (1 - edge_threshold) * camera_width}"
-            )
-            logger.debug(
-                f"{camera}: Zoom test: far from top edge: {bb_top > edge_threshold * camera_height}"
-            )
-            logger.debug(
-                f"{camera}: Zoom test: far from bottom edge: {bb_bottom < (1 - edge_threshold) * camera_height}"
+                f"{camera}: Zoom test: far from edges: count: {touching_frame_edges} left: {bb_left < edge_threshold * camera_width}, right: {bb_right > (1 - edge_threshold) * camera_width}, top: {bb_top < edge_threshold * camera_height}, bottom: {bb_bottom > (1 - edge_threshold) * camera_height}"
             )
             logger.debug(
                 f"{camera}: Zoom test: below distance threshold: {(below_distance_threshold)}"
             )
             logger.debug(
-                f"{camera}: Zoom test: below area threshold: {(below_area_threshold)} original: {self.original_target_box[camera]} target box: {target_box}"
+                f"{camera}: Zoom test: below area threshold: {(below_area_threshold)} original: {self.tracked_object_metrics[camera]['original_target_box']} target box: {self.tracked_object_metrics[camera]['target_box']}"
             )
             logger.debug(
-                f"{camera}: Zoom test: below dimension threshold: {below_dimension_threshold} width: {(bb_right - bb_left) / camera_width}, height: { (bb_bottom - bb_top) / camera_height}"
+                f"{camera}: Zoom test: below zoom factored threshold: {(below_zoom_factored_threshold)} target box: {self.tracked_object_metrics[camera]['target_box'] ** self.zoom_factor[camera]}"
+            )
+            logger.debug(
+                f"{camera}: Zoom test: below dimension threshold: {below_dimension_threshold} width: {bb_right - bb_left} height: {bb_bottom - bb_top}"
             )
             logger.debug(
                 f"{camera}: Zoom test: below velocity threshold: {below_velocity_threshold} velocity x: {abs(average_velocity[0])}, x threshold: {velocity_threshold_x}, velocity y: {abs(average_velocity[1])}, y threshold: {velocity_threshold_y}"
@@ -692,22 +744,16 @@ class PtzAutoTracker:
             logger.debug(f"{camera}: Zoom test: at max zoom: {at_max_zoom}")
             logger.debug(f"{camera}: Zoom test: at min zoom: {at_min_zoom}")
             logger.debug(
-                f"{camera}: Zoom test: zoom in hysteresis limit: {zoom_in_hysteresis} previous: {self.previous_target_box[camera]} target: {target_box}"
+                f'{camera}: Zoom test: zoom in hysteresis limit: {zoom_in_hysteresis} value: {AUTOTRACKING_ZOOM_IN_HYSTERESIS} original: {self.tracked_object_metrics[camera]["original_target_box"]} target: {self.tracked_object_metrics[camera]["target_box"]}'
             )
             logger.debug(
-                f"{camera}: Zoom test: zoom out hysteresis limit: {zoom_out_hysteresis} previous: {self.previous_target_box[camera]} target: {target_box}"
+                f'{camera}: Zoom test: zoom out hysteresis limit: {zoom_out_hysteresis} value: {AUTOTRACKING_ZOOM_OUT_HYSTERESIS} original: {self.tracked_object_metrics[camera]["original_target_box"]} target: {self.tracked_object_metrics[camera]["target_box"]}'
             )
 
         # Zoom in conditions (and)
-        # object area could be larger
-        # object is away from the edge of the frame
-        # object is not moving too quickly
-        # object is small in the frame
-        # object area is below initial area
-        # camera is not fully zoomed in
         if (
             zoom_in_hysteresis
-            and away_from_edge
+            and touching_frame_edges == 0
             and below_velocity_threshold
             and below_dimension_threshold
             and below_area_threshold
@@ -716,15 +762,21 @@ class PtzAutoTracker:
             return True
 
         # Zoom out conditions (or)
-        # object area got too large
-        # object area has at least one dimension that is too large
-        # object is touching an edge and either centered
-        # object is moving too quickly
         if (
-            zoom_out_hysteresis
-            and not below_area_threshold
-            or not below_dimension_threshold
-            or (not away_from_edge and below_distance_threshold)
+            (
+                zoom_out_hysteresis
+                and not at_max_zoom
+                #    and not below_zoom_factored_threshold
+                and (not below_area_threshold or not below_dimension_threshold)
+            )
+            or (
+                zoom_out_hysteresis
+                and not below_area_threshold
+                and at_max_zoom
+                #    and not below_zoom_factored_threshold
+            )
+            or (touching_frame_edges == 1 and below_distance_threshold)
+            or touching_frame_edges > 1
             or not below_velocity_threshold
         ) and not at_min_zoom:
             return False
@@ -786,12 +838,15 @@ class PtzAutoTracker:
         self._enqueue_move(camera, obj.obj_data["frame_time"], pan, tilt, zoom)
 
     def _autotrack_move_zoom_only(self, camera, obj):
-        zoom = self._get_zoom_amount(camera, obj, obj.obj_data["box"])
+        camera_config = self.config.cameras[camera]
 
-        if zoom != 0:
-            self._enqueue_move(camera, obj.obj_data["frame_time"], 0, 0, zoom)
+        if camera_config.onvif.autotracking.zooming == ZoomingModeEnum.absolute:
+            zoom = self._get_zoom_amount(camera, obj, obj.obj_data["box"])
 
-    def _get_zoom_amount(self, camera, obj, predicted_box, debug_zoom=False):
+            if zoom != 0:
+                self._enqueue_move(camera, obj.obj_data["frame_time"], 0, 0, zoom)
+
+    def _get_zoom_amount(self, camera, obj, predicted_box, debug_zoom=True):
         camera_config = self.config.cameras[camera]
 
         # frame width and height
@@ -802,13 +857,11 @@ class PtzAutoTracker:
         result = None
         current_zoom_level = self.ptz_metrics[camera]["ptz_zoom_level"].value
         target_box = obj.obj_data["area"] / (camera_width * camera_height)
-        if self.tracked_object_previous[camera] is None:
-            self.original_target_box[camera] = 1
 
         # absolute zooming separately from pan/tilt
         if camera_config.onvif.autotracking.zooming == ZoomingModeEnum.absolute:
             # don't zoom on initial move
-            if self.tracked_object_previous[camera] is None:
+            if not self.tracked_object_history[camera]:
                 zoom = current_zoom_level
             else:
                 if (
@@ -823,7 +876,8 @@ class PtzAutoTracker:
 
         # relative zooming concurrently with pan/tilt
         if camera_config.onvif.autotracking.zooming == ZoomingModeEnum.relative:
-            if self.tracked_object_previous[camera] is None:
+            # this is our initial zoom in on a new object
+            if not self.tracked_object_metrics[camera]:
                 zoom = target_box ** self.zoom_factor[camera]
             else:
                 if (
@@ -840,8 +894,13 @@ class PtzAutoTracker:
                     zoom = (
                         2
                         * (
-                            self.previous_target_box[camera]
-                            / (target_box + self.previous_target_box[camera])
+                            self.tracked_object_metrics[camera]["original_target_box"]
+                            / (
+                                self.tracked_object_metrics[camera]["target_box"]
+                                + self.tracked_object_metrics[camera][
+                                    "original_target_box"
+                                ]
+                            )
                         )
                         - 1
                     )
@@ -875,31 +934,35 @@ class PtzAutoTracker:
                 and set(obj.entered_zones) & set(self.required_zones[camera])
                 and not obj.previous["false_positive"]
                 and not obj.false_positive
-                and self.tracked_object_previous[camera] is None
+                and not self.tracked_object_history[camera]
                 and obj.obj_data["motionless_count"] == 0
             ):
                 logger.debug(
                     f"{camera}: New object: {obj.obj_data['id']} {obj.obj_data['box']} {obj.obj_data['frame_time']}"
                 )
                 self.tracked_object[camera] = obj
+
+                self.tracked_object_history[camera].append(copy.deepcopy(obj.obj_data))
                 self._autotrack_move_ptz(camera, obj)
-                self.tracked_object_previous[camera] = copy.deepcopy(obj)
-                self.previous_frame_time[camera] = obj.obj_data["frame_time"]
 
                 return
 
             if (
                 # already tracking an object
                 self.tracked_object[camera] is not None
-                and self.tracked_object_previous[camera] is not None
+                and self.tracked_object_history[camera]
                 and obj.obj_data["id"] == self.tracked_object[camera].obj_data["id"]
-                and obj.obj_data["frame_time"] != self.previous_frame_time
+                and obj.obj_data["frame_time"]
+                != self.tracked_object_history[camera][-1]["frame_time"]
                 and not ptz_moving_at_frame_time(
                     obj.obj_data["frame_time"],
                     self.ptz_metrics[camera]["ptz_start_time"].value,
                     self.ptz_metrics[camera]["ptz_stop_time"].value,
                 )
             ):
+                self.tracked_object_history[camera].append(copy.deepcopy(obj.obj_data))
+                self._calculate_tracked_object_metrics(camera)
+
                 if self._below_distance_threshold(camera, obj):
                     logger.debug(
                         f"{camera}: Existing object (do NOT move ptz): {obj.obj_data['id']} {obj.obj_data['box']} {obj.obj_data['frame_time']}"
@@ -914,9 +977,6 @@ class PtzAutoTracker:
 
                     self._autotrack_move_ptz(camera, obj)
 
-                self.tracked_object_previous[camera] = copy.deepcopy(obj)
-                self.previous_frame_time[camera] = obj.obj_data["frame_time"]
-
                 return
 
             if (
@@ -928,11 +988,11 @@ class PtzAutoTracker:
                 and obj.obj_data["label"] in self.object_types[camera]
                 and not obj.previous["false_positive"]
                 and not obj.false_positive
-                and self.tracked_object_previous[camera] is not None
+                and self.tracked_object_history[camera]
             ):
                 if (
                     intersection_over_union(
-                        self.tracked_object_previous[camera].obj_data["region"],
+                        self.tracked_object_history[camera][-1]["region"],
                         obj.obj_data["box"],
                     )
                     < 0.2
@@ -941,9 +1001,13 @@ class PtzAutoTracker:
                         f"{camera}: Reacquired object: {obj.obj_data['id']} {obj.obj_data['box']} {obj.obj_data['frame_time']}"
                     )
                     self.tracked_object[camera] = obj
+
+                    self.tracked_object_history[camera].clear()
+                    self.tracked_object_history[camera].append(
+                        copy.deepcopy(obj.obj_data)
+                    )
+                    self._calculate_tracked_object_metrics(camera)
                     self._autotrack_move_ptz(camera, obj)
-                    self.tracked_object_previous[camera] = copy.deepcopy(obj)
-                    self.previous_frame_time[camera] = obj.obj_data["frame_time"]
 
                 return
 
@@ -957,6 +1021,7 @@ class PtzAutoTracker:
                     f"{camera}: End object: {obj.obj_data['id']} {obj.obj_data['box']}"
                 )
                 self.tracked_object[camera] = None
+                self.tracked_object_metrics[camera] = {}
 
     def camera_maintenance(self, camera):
         # bail and don't check anything if we're calibrating or tracking an object
@@ -980,19 +1045,18 @@ class PtzAutoTracker:
         # return to preset if tracking is over
         if (
             self.tracked_object[camera] is None
-            and self.tracked_object_previous[camera] is not None
+            and self.tracked_object_history[camera]
             and (
                 # might want to use a different timestamp here?
                 self.ptz_metrics[camera]["ptz_frame_time"].value
-                - self.tracked_object_previous[camera].obj_data["frame_time"]
+                - self.tracked_object_history[camera][-1]["frame_time"]
                 >= autotracker_config.timeout
             )
             and autotracker_config.return_preset
         ):
             # clear tracked object and reset zoom level
             self.tracked_object[camera] = None
-            self.tracked_object_previous[camera] = None
-            self.previous_target_box[camera] = 1
+            self.tracked_object_history[camera].clear()
 
             # empty move queue
             while not self.move_queues[camera].empty():