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use unclipped estimate in distance function only

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This commit is contained in:
Josh Hawkins 2023-11-01 11:13:18 -05:00
parent e49f034721
commit 2433b9e00a
1 changed files with 16 additions and 11 deletions
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27
frigate/track/norfair_tracker.py
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@ -55,7 +55,11 @@ def distance(detection: np.array, estimate: np.array) -> float:
def frigate_distance(detection: Detection, tracked_object) -> float:
return distance(detection.points, tracked_object.estimate)
# if we're actively autotracking an object
if tracked_object.autotracking_estimate is not None:
return distance(detection.points, tracked_object.autotracking_estimate)
else:
return distance(detection.points, tracked_object.estimate)
class NorfairTracker(ObjectTracker):
@ -276,19 +280,20 @@ class NorfairTracker(ObjectTracker):
active_ids = []
for t in tracked_objects:
estimate = tuple(t.estimate.flatten().astype(int))
if not self.ptz_tracking_active.is_set():
# keep the estimate within the bounds of the image
# always for non-autotracking cams
# and only for autotracking cams when not actively autotracking
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]),
)
autotracking_estimate = (
estimate if not self.ptz_tracking_active.is_set() else None
)
# keep the estimate within the bounds of the image
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]),
)
obj = {
**t.last_detection.data,
"estimate": estimate,
"autotracking_estimate": autotracking_estimate,
"estimate_velocity": t.estimate_velocity,
}
active_ids.append(t.global_id)