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Use a rolling average of iou to determine if an object is no longer stationary

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Nick Mowen 2024-01-18 14:16:36 -07:00 committed by Nicolas Mowen
parent 02dfa1222e
commit 7b049c1782
1 changed files with 21 additions and 3 deletions
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24
frigate/track/norfair_tracker.py
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@ -21,6 +21,10 @@ from frigate.util.image import intersection_over_union
logger = logging.getLogger(__name__)
THRESHOLD_STATIONARY_IOU_AVERAGE = 0.6
MAX_STATIONARY_IOU_HISTORY = 10
# Normalizes distance from estimate relative to object size
# Other ideas:
# - if estimates are inaccurate for first N detections, compare with last_detection (may be fine)
@ -74,6 +78,7 @@ class NorfairTracker(ObjectTracker):
self.untracked_object_boxes: list[list[int]] = []
self.disappeared = {}
self.positions = {}
self.stationary_iou: dict[str, list[int]] = {}
self.camera_config = config
self.detect_config = config.detect
self.ptz_metrics = ptz_metrics
@ -127,6 +132,7 @@ class NorfairTracker(ObjectTracker):
"xmax": self.detect_config.width,
"ymax": self.detect_config.height,
}
self.stationary_iou[id] = []
def deregister(self, id, track_id):
del self.tracked_objects[id]
@ -138,7 +144,7 @@ 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, box):
def update_position(self, id: str, box: [int, int, int, int]):
position = self.positions[id]
position_box = (
position["xmin"],
@ -151,9 +157,18 @@ class NorfairTracker(ObjectTracker):
iou = intersection_over_union(position_box, box)
self.stationary_iou[id].append(iou)
if len(self.stationary_iou[id]) > MAX_STATIONARY_IOU_HISTORY:
self.stationary_iou[id] = self.stationary_iou[id][
-MAX_STATIONARY_IOU_HISTORY:
]
avg_iou = np.mean(self.stationary_iou[id])
# if the iou drops below the threshold
# assume the object has moved to a new position and reset the computed box
if iou < 0.6:
if avg_iou < THRESHOLD_STATIONARY_IOU_AVERAGE:
self.positions[id] = {
"xmins": [xmin],
"ymins": [ymin],
@ -205,7 +220,9 @@ class NorfairTracker(ObjectTracker):
id = self.track_id_map[track_id]
self.disappeared[id] = 0
# 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"], self.tracked_objects[id]["motionless_count"] > 1
):
self.tracked_objects[id]["motionless_count"] += 1
if self.is_expired(id):
self.deregister(id, track_id)
@ -220,6 +237,7 @@ class NorfairTracker(ObjectTracker):
):
self.tracked_objects[id]["position_changes"] += 1
self.tracked_objects[id]["motionless_count"] = 0
self.stationary_iou[id] = []
self.tracked_objects[id].update(obj)