From f26093dc4a21b4709ea3b5fae42026bad142d9b2 Mon Sep 17 00:00:00 2001
From: Josh Hawkins <32435876+hawkeye217@users.noreply.github.com>
Date: Thu, 29 Jun 2023 13:20:25 -0500
Subject: [PATCH] Revert "Threaded motion estimator"

This reverts commit 3171801607cbbbe58cda7b637f2a3917d919959a.
---
 frigate/ptz_autotrack.py         | 19 -------------------
 frigate/track/norfair_tracker.py | 16 +++++-----------
 frigate/video.py                 |  4 +---
 3 files changed, 6 insertions(+), 33 deletions(-)

diff --git a/frigate/ptz_autotrack.py b/frigate/ptz_autotrack.py
index 3e3bf29d6..5761aa475 100644
--- a/frigate/ptz_autotrack.py
+++ b/frigate/ptz_autotrack.py
@@ -17,21 +17,6 @@ from frigate.util import SharedMemoryFrameManager, intersection_over_union
 logger = logging.getLogger(__name__)
 
 
-class PtzMotionEstimatorThread(threading.Thread):
-    def __init__(self, config: CameraConfig, ptz_moving, stop_event) -> None:
-        threading.Thread.__init__(self)
-        self.name = "frigate_ptz_motion_estimator"
-        self.ptz_moving = ptz_moving
-        self.config = config
-        self.stop_event = stop_event
-        self.ptz_motion_estimator = PtzMotionEstimator(self.config, self.ptz_moving)
-
-    def run(self):
-        while not self.stop_event.is_set():
-            pass
-        logger.info("Exiting motion estimator...")
-
-
 class PtzMotionEstimator:
     def __init__(self, config: CameraConfig, ptz_moving) -> None:
         self.frame_manager = SharedMemoryFrameManager()
@@ -71,10 +56,6 @@ class PtzMotionEstimator:
 
             self.frame_manager.close(frame_id)
 
-            logger.debug(
-                f"frame time: {frame_time}, coord_transformations: {vars(self.coord_transformations)}"
-            )
-
             return self.coord_transformations
 
         return None
diff --git a/frigate/track/norfair_tracker.py b/frigate/track/norfair_tracker.py
index 2683b05d1..48cc029ee 100644
--- a/frigate/track/norfair_tracker.py
+++ b/frigate/track/norfair_tracker.py
@@ -6,7 +6,7 @@ from norfair import Detection, Drawable, Tracker, draw_boxes
 from norfair.drawing.drawer import Drawer
 
 from frigate.config import CameraConfig
-from frigate.ptz_autotrack import PtzMotionEstimatorThread
+from frigate.ptz_autotrack import PtzMotionEstimator
 from frigate.track import ObjectTracker
 from frigate.util import intersection_over_union
 
@@ -55,9 +55,7 @@ def frigate_distance(detection: Detection, tracked_object) -> float:
 
 
 class NorfairTracker(ObjectTracker):
-    def __init__(
-        self, config: CameraConfig, ptz_autotracker_enabled, ptz_moving, stop_event
-    ):
+    def __init__(self, config: CameraConfig, ptz_autotracker_enabled, ptz_moving):
         self.tracked_objects = {}
         self.disappeared = {}
         self.positions = {}
@@ -77,9 +75,7 @@ class NorfairTracker(ObjectTracker):
             hit_counter_max=self.max_disappeared,
         )
         if self.ptz_autotracker_enabled:
-            self.ptz_motion_estimator_thread = PtzMotionEstimatorThread(
-                config, self.ptz_moving, stop_event
-            )
+            self.ptz_motion_estimator = PtzMotionEstimator(config, self.ptz_moving)
 
     def register(self, track_id, obj):
         rand_id = "".join(random.choices(string.ascii_lowercase + string.digits, k=6))
@@ -247,10 +243,8 @@ class NorfairTracker(ObjectTracker):
             self.ptz_autotracker_enabled
             and self.camera_config.onvif.autotracking.motion_estimator
         ):
-            coord_transformations = (
-                self.ptz_motion_estimator_thread.ptz_motion_estimator.motion_estimator(
-                    detections, frame_time, self.camera_name
-                )
+            coord_transformations = self.ptz_motion_estimator.motion_estimator(
+                detections, frame_time, self.camera_name
             )
 
         tracked_objects = self.tracker.update(
diff --git a/frigate/video.py b/frigate/video.py
index 2eaa439c2..4dfcbedab 100755
--- a/frigate/video.py
+++ b/frigate/video.py
@@ -478,9 +478,7 @@ def track_camera(
         name, labelmap, detection_queue, result_connection, model_config, stop_event
     )
 
-    object_tracker = NorfairTracker(
-        config, ptz_autotracker_enabled, ptz_moving, stop_event
-    )
+    object_tracker = NorfairTracker(config, ptz_autotracker_enabled, ptz_moving)
 
     frame_manager = SharedMemoryFrameManager()