update distance calculation

.devcontainer/devcontainer.json

@@ -53,7 +53,8 @@
  "csstools.postcss",
  "blanu.vscode-styled-jsx",
  "bradlc.vscode-tailwindcss",
- "ms-python.isort"
+ "ms-python.isort",
+ "charliermarsh.ruff"
  ],
  "settings": {
  "remote.autoForwardPorts": false,
@@ -69,9 +70,7 @@
  "python.testing.unittestArgs": ["-v", "-s", "./frigate/test"],
  "files.trimTrailingWhitespace": true,
  "eslint.workingDirectories": ["./web"],
- "isort.args": [
- "--settings-path=./pyproject.toml"
- ],
+ "isort.args": ["--settings-path=./pyproject.toml"],
  "[python]": {
  "editor.defaultFormatter": "ms-python.black-formatter",
  "editor.formatOnSave": true

frigate/track/centroid_tracker.py

@@ -4,8 +4,8 @@
 
 import numpy as np
 from scipy.spatial import distance as dist
-from frigate.config import DetectConfig
 
+from frigate.config import DetectConfig
 from frigate.track import ObjectTracker
 from frigate.util import intersection_over_union
 

frigate/track/norfair_tracker.py

@@ -1,13 +1,13 @@
-from collections import defaultdict
 import random
 import string
 
 import numpy as np
+from norfair import Detection, Drawable, Tracker, draw_boxes
+from norfair.drawing.drawer import Drawer
+
 from frigate.config import DetectConfig
 from frigate.track import ObjectTracker
 from frigate.util import intersection_over_union
-from norfair import Detection, Tracker, Drawable, draw_boxes
-from norfair.drawing.drawer import Drawer
 
 
 # Normalizes distance from estimate relative to object size
@@ -16,17 +16,41 @@
 # - could be variable based on time since last_detection
 # - include estimated velocity in the distance (car driving by of a parked car)
 # - include some visual similarity factor in the distance for occlusions
-def frigate_distance(detection: Detection, tracked_object) -> float:
- # calculate distances and normalize it by width and height of previous detection
- ld = tracked_object.last_detection
- width = ld.points[1][0] - ld.points[0][0]
- height = ld.points[1][1] - ld.points[0][1]
- difference = (detection.points - tracked_object.estimate).astype(float)
- difference[:, 0] /= width
- difference[:, 1] /= height
+def distance(detection: np.array, estimate: np.array) -> float:
+ # ultimately, this should try and estimate distance in 3-dimensional space
+ # consider change in location, width, and height
+
+ estimate_dim = np.diff(estimate, axis=0).flatten()
+ detection_dim = np.diff(detection, axis=0).flatten()
+
+ # get centroid positions
+ detection_position = np.array(
+ [np.average(detection[:, 0]), np.max(detection[:, 1])]
+ )
+ estimate_position = np.array([np.average(estimate[:, 0]), np.max(estimate[:, 1])])
 
- # calculate euclidean distance and average
- return np.linalg.norm(difference, axis=1).mean()
+ distance = (detection_position - estimate_position).astype(float)
+ # change in x relative to w
+ distance[0] /= estimate_dim[0]
+ # change in y relative to h
+ distance[1] /= estimate_dim[1]
+
+ # get ratio of widths and heights
+ # normalize to 1
+ widths = np.sort([estimate_dim[0], detection_dim[0]])
+ heights = np.sort([estimate_dim[1], detection_dim[1]])
+ width_ratio = widths[1] / widths[0] - 1.0
+ height_ratio = heights[1] / heights[0] - 1.0
+
+ # change vector is relative x,y change and w,h ratio
+ change = np.append(distance, np.array([width_ratio, height_ratio]))
+
+ # calculate euclidean distance of the change vector
+ return np.linalg.norm(change)
+
+
+def frigate_distance(detection: Detection, tracked_object) -> float:
+ return distance(detection.points, tracked_object.estimate)
 
 
 class NorfairTracker(ObjectTracker):
@@ -41,9 +65,7 @@ def __init__(self, config: DetectConfig):
  # was a good reason to have different distance calculations
  self.tracker = Tracker(
  distance_function=frigate_distance,
- # distance is relative to the size of the last
- # detection
- distance_threshold=4.0,
+ distance_threshold=2.5,
  initialization_delay=0,
  hit_counter_max=self.max_disappeared,
  )
@@ -210,7 +232,7 @@ def match_and_update(self, frame_time, detections):
  active_ids = []
  for t in tracked_objects:
  active_ids.append(t.global_id)
- if not t.global_id in self.track_id_map:
+ if t.global_id not in self.track_id_map:
  self.register(t.global_id, t.last_detection.data)
  # if there wasn't a detection in this frame, increment disappeared
  elif t.last_detection.data["frame_time"] != frame_time:

frigate/track/sort_tracker.py

@@ -1,12 +1,12 @@
-from collections import defaultdict
 import random
 import string
 
 import numpy as np
+from similari import BoundingBox, PositionalMetricType, Sort, SpatioTemporalConstraints
+
 from frigate.config import DetectConfig
 from frigate.track import ObjectTracker
 from frigate.util import intersection_over_union
-from similari import Sort, BoundingBox, SpatioTemporalConstraints, PositionalMetricType
 
 
 class SortTracker(ObjectTracker):
@@ -156,7 +156,7 @@ def match_and_update(self, frame_time, detections):
  # get the scene_id for this label or create a new one
  # TODO: consider grouping frequently swapped objects in
  # in the same scene
- if not obj[0] in self.scene_map:
+ if obj[0] not in self.scene_map:
  scene_id = len(self.scene_map.keys())
  self.scene_map[obj[0]] = scene_id
  scene_detections[scene_id] = []
@@ -200,7 +200,7 @@ def match_and_update(self, frame_time, detections):
 
  # update or create new tracks
  for t in tracks:
- if not t.id in self.track_id_map:
+ if t.id not in self.track_id_map:
  self.register(t.id, objs[t.custom_object_id])
  else:
  self.update(t.id, objs[t.custom_object_id])

frigate/video.py

@@ -20,9 +20,7 @@
 from frigate.motion import MotionDetector
 from frigate.object_detection import RemoteObjectDetector
 from frigate.track import ObjectTracker
-from frigate.track.centroid_tracker import CentroidTracker
 from frigate.track.norfair_tracker import NorfairTracker
-from frigate.track.sort_tracker import SortTracker
 from frigate.util import (
  EventsPerSecond,
  FrameManager,