final tweaks and docs

docs/docs/configuration/autotracking.md

@@ -147,11 +147,11 @@ Watching Frigate's debug view can help to determine a possible cause. The autotr
 
 ### I'm seeing an error in the logs that my camera "is still in ONVIF 'MOVING' status." What does this mean?
 
-There are two possible reasons for this: a slow PTZ motor or buggy Hikvision firmware. Frigate uses an ONVIF parameter provided by the camera, `MoveStatus`, to determine when the PTZ's motor is moving or idle. According to some users, Hikvision PTZs (even with the latest firmware), are not updating this value after PTZ movement. Unfortunately there is no workaround to this bug in Hikvision firmware, so autotracking will not function correctly and should be disabled in your config.
+There are two possible known reasons for this (and perhaps others yet unknown): a slow PTZ motor or buggy camera firmware. Frigate uses an ONVIF parameter provided by the camera, `MoveStatus`, to determine when the PTZ's motor is moving or idle. According to some users, Hikvision PTZs (even with the latest firmware), are not updating this value after PTZ movement. Unfortunately there is no workaround to this bug in Hikvision firmware, so autotracking will not function correctly and should be disabled in your config. This may also be the case with other non-Hikvision cameras utilizing Hikvision firmware.
 
-### I tried calibrating my camera, but it is stuck at 0%.
+### I tried calibrating my camera, but the logs show that it is stuck at 0% and Frigate is not starting up.
 
-This is often caused by the same reason as above - the `MoveStatus` ONVIF parameter is not changing due to a bug in Hikvision firmware.
+This is often caused by the same reason as above - the `MoveStatus` ONVIF parameter is not changing due to a bug in your camera's firmware. Also, see the note above: Frigate's web UI and all other cameras will be unresponsive while calibration is in progress. This is expected and normal. But if you don't see log entries every few seconds for calibration progress, your camera is not compatible with autotracking.
 
 ### I'm seeing this error in the logs: "Autotracker: motion estimator couldn't get transformations". What does this mean?
 

frigate/comms/dispatcher.py

@@ -176,11 +176,13 @@ class Dispatcher:
             if not self.ptz_metrics[camera_name]["ptz_autotracker_enabled"].value:
                 logger.info(f"Turning on ptz autotracker for {camera_name}")
                 self.ptz_metrics[camera_name]["ptz_autotracker_enabled"].value = True
+                self.ptz_metrics[camera_name]["ptz_start_time"].value = 0
                 ptz_autotracker_settings.enabled = True
         elif payload == "OFF":
             if self.ptz_metrics[camera_name]["ptz_autotracker_enabled"].value:
                 logger.info(f"Turning off ptz autotracker for {camera_name}")
                 self.ptz_metrics[camera_name]["ptz_autotracker_enabled"].value = False
+                self.ptz_metrics[camera_name]["ptz_start_time"].value = 0
                 ptz_autotracker_settings.enabled = False
 
         self.publish(f"{camera_name}/ptz_autotracker/state", payload, retain=True)

frigate/ptz/autotrack.py

@@ -80,7 +80,7 @@ class PtzMotionEstimator:
             frame_time, self.ptz_start_time.value, self.ptz_stop_time.value
         ):
             logger.debug(
-                f"{camera}: Motion estimator running - frame time: {frame_time}, ptz start: {self.ptz_start_time.value}, ptz stop: {self.ptz_stop_time.value}"
+                f"{camera}: Motion estimator running - frame time: {frame_time}"
             )
 
             frame_id = f"{camera}{frame_time}"
@@ -113,6 +113,7 @@ class PtzMotionEstimator:
                 )
             except Exception:
                 # sometimes opencv can't find enough features in the image to find homography, so catch this error
+                # https://github.com/tryolabs/norfair/pull/278
                 logger.warning(
                     f"Autotracker: motion estimator couldn't get transformations for {camera} at frame time {frame_time}"
                 )
@@ -782,7 +783,7 @@ class PtzAutoTracker:
         if camera_config.onvif.autotracking.zooming == ZoomingModeEnum.relative:
             if self.tracked_object_previous[camera] is None:
                 # start with a slightly altered box to encourage an initial zoom
-                self.previous_target_box[camera] = target_box * 1.2
+                self.previous_target_box[camera] = target_box * 1.15
 
             if (
                 result := self._should_zoom_in(
@@ -910,11 +911,13 @@ class PtzAutoTracker:
 
     def camera_maintenance(self, camera):
         # bail and don't check anything if we're calibrating or tracking an object
-        if self.calibrating[camera] or self.tracked_object[camera] is not None:
+        if (
+            not self.autotracker_init[camera]
+            or self.calibrating[camera]
+            or self.tracked_object[camera] is not None
+        ):
             return
 
-        logger.debug(f"{camera}: Running camera maintenance")
-
         # calls get_camera_status to check/update ptz movement
         # returns camera to preset after timeout when tracking is over
         autotracker_config = self.config.cameras[camera].onvif.autotracking

frigate/ptz/onvif.py

@@ -350,6 +350,13 @@ class OnvifController:
 
         self.cams[camera_name]["active"] = True
         self.ptz_metrics[camera_name]["ptz_stopped"].clear()
+        logger.debug(
+            f"{camera_name} PTZ start time: {self.ptz_metrics[camera_name]['ptz_frame_time'].value}"
+        )
+        self.ptz_metrics[camera_name]["ptz_start_time"].value = self.ptz_metrics[
+            camera_name
+        ]["ptz_frame_time"].value
+        self.ptz_metrics[camera_name]["ptz_stop_time"].value = 0
         move_request = self.cams[camera_name]["move_request"]
         onvif: ONVIFCamera = self.cams[camera_name]["onvif"]
         preset_token = self.cams[camera_name]["presets"][preset]
@@ -359,7 +366,7 @@ class OnvifController:
                 "PresetToken": preset_token,
             }
         )
-        self.ptz_metrics[camera_name]["ptz_stopped"].set()
+
         self.cams[camera_name]["active"] = False
 
     def _zoom(self, camera_name: str, command: OnvifCommandEnum) -> None:

frigate/video.py

@@ -21,6 +21,7 @@ from frigate.log import LogPipe
 from frigate.motion import MotionDetector
 from frigate.motion.improved_motion import ImprovedMotionDetector
 from frigate.object_detection import RemoteObjectDetector
+from frigate.ptz.autotrack import ptz_moving_at_frame_time
 from frigate.track import ObjectTracker
 from frigate.track.norfair_tracker import NorfairTracker
 from frigate.types import PTZMetricsTypes
@@ -776,7 +777,24 @@ def process_frames(
             logger.info(f"{camera_name}: frame {frame_time} is not in memory store.")
             continue
 
-        motion_boxes = motion_detector.detect(frame) if motion_enabled.value else []
+        # always returns false if autotracking is disabled
+        ptz_moving = ptz_moving_at_frame_time(
+            frame_time,
+            ptz_metrics["ptz_start_time"].value,
+            ptz_metrics["ptz_stop_time"].value,
+        )
+
+        motion_boxes = (
+            motion_detector.detect(frame)
+            if motion_enabled.value and not ptz_moving
+            else []
+        )
+
+        # full frame motion if ptz is moving from autotracking - remove this later
+        # better to have motion detector expose property when it's calibrating
+        # but still return motion boxes for retention purposes
+        if ptz_moving:
+            motion_boxes = [(0, 0, frame_shape[1], frame_shape[0] * 3 // 2)]
 
         regions = []
         consolidated_detections = []