Re-enable init delay and use untracked object boxes for regions

frigate/track/centroid_tracker.py

@@ -13,6 +13,7 @@
 class CentroidTracker(ObjectTracker):
     def __init__(self, config: DetectConfig):
         self.tracked_objects = {}
+        self.untracked_object_boxes = []
         self.disappeared = {}
         self.positions = {}
         self.max_disappeared = config.max_disappeared

frigate/track/norfair_tracker.py

@@ -1,3 +1,4 @@
+import logging
 import random
 import string
 
@@ -11,6 +12,8 @@
 from frigate.types import PTZMetricsTypes
 from frigate.util.image import intersection_over_union
 
+logger = logging.getLogger(__name__)
+
 
 # Normalizes distance from estimate relative to object size
 # Other ideas:
@@ -62,6 +65,7 @@ def __init__(
         ptz_metrics: PTZMetricsTypes,
     ):
         self.tracked_objects = {}
+        self.untracked_object_boxes: list[list[int]] = []
         self.disappeared = {}
         self.positions = {}
         self.max_disappeared = config.detect.max_disappeared
@@ -77,7 +81,7 @@ def __init__(
         self.tracker = Tracker(
             distance_function=frigate_distance,
             distance_threshold=2.5,
-            initialization_delay=0,
+            initialization_delay=self.detect_config.fps / 2,
             hit_counter_max=self.max_disappeared,
         )
         if self.ptz_autotracker_enabled.value:
@@ -106,11 +110,6 @@ def register(self, track_id, obj):
             "ymax": self.detect_config.height,
         }
 
-        # start object with a hit count of `fps` to avoid quick detection -> loss
-        next(
-            (o for o in self.tracker.tracked_objects if o.global_id == track_id)
-        ).hit_counter = self.camera_config.detect.fps
-
     def deregister(self, id, track_id):
         del self.tracked_objects[id]
         del self.disappeared[id]
@@ -303,6 +302,12 @@ def match_and_update(self, frame_time, detections):
         for e_id in expired_ids:
             self.deregister(self.track_id_map[e_id], e_id)
 
+        # update list of object boxes that don't have a tracked object yet
+        tracked_object_boxes = [obj["box"] for obj in self.tracked_objects.values()]
+        self.untracked_object_boxes = [
+            o[2] for o in detections if o[2] not in tracked_object_boxes
+        ]
+
     def debug_draw(self, frame, frame_time):
         active_detections = [
             Drawable(id=obj.id, points=obj.last_detection.points, label=obj.label)

frigate/video.py

@@ -616,14 +616,15 @@ def process_frames(
                 for obj in object_tracker.tracked_objects.values()
                 if obj["id"] not in stationary_object_ids
             ]
+            object_boxes = tracked_object_boxes + object_tracker.untracked_object_boxes
 
             # get consolidated regions for tracked objects
             regions = [
                 get_cluster_region(
-                    frame_shape, region_min_size, candidate, tracked_object_boxes
+                    frame_shape, region_min_size, candidate, object_boxes
                 )
                 for candidate in get_cluster_candidates(
-                    frame_shape, region_min_size, tracked_object_boxes
+                    frame_shape, region_min_size, object_boxes
                 )
             ]