Autotracking optimizations (#7109)

* much improved motion estimation and tracking

* docs updates

* move ptz specific mp values to ptz_metrics dict

* only check if moving at frame time

* pass full dict instead of individual values

frigate/track/norfair_tracker.py

@@ -8,6 +8,7 @@ from norfair.drawing.drawer import Drawer
 from frigate.config import CameraConfig
 from frigate.ptz.autotrack import PtzMotionEstimator
 from frigate.track import ObjectTracker
+from frigate.types import PTZMetricsTypes
 from frigate.util.image import intersection_over_union
 
 
@@ -55,15 +56,18 @@ def frigate_distance(detection: Detection, tracked_object) -> float:
 
 
 class NorfairTracker(ObjectTracker):
-    def __init__(self, config: CameraConfig, ptz_autotracker_enabled, ptz_stopped):
+    def __init__(
+        self,
+        config: CameraConfig,
+        ptz_metrics: PTZMetricsTypes,
+    ):
         self.tracked_objects = {}
         self.disappeared = {}
         self.positions = {}
         self.max_disappeared = config.detect.max_disappeared
         self.camera_config = config
         self.detect_config = config.detect
-        self.ptz_autotracker_enabled = ptz_autotracker_enabled.value
-        self.ptz_stopped = ptz_stopped
+        self.ptz_autotracker_enabled = ptz_metrics["ptz_autotracker_enabled"]
         self.camera_name = config.name
         self.track_id_map = {}
         # TODO: could also initialize a tracker per object class if there
@@ -74,8 +78,8 @@ class NorfairTracker(ObjectTracker):
             initialization_delay=0,
             hit_counter_max=self.max_disappeared,
         )
-        if self.ptz_autotracker_enabled:
-            self.ptz_motion_estimator = PtzMotionEstimator(config, self.ptz_stopped)
+        if self.ptz_autotracker_enabled.value:
+            self.ptz_motion_estimator = PtzMotionEstimator(config, ptz_metrics)
 
     def register(self, track_id, obj):
         rand_id = "".join(random.choices(string.ascii_lowercase + string.digits, k=6))
@@ -239,7 +243,7 @@ class NorfairTracker(ObjectTracker):
 
         coord_transformations = None
 
-        if self.ptz_autotracker_enabled:
+        if self.ptz_autotracker_enabled.value:
             coord_transformations = self.ptz_motion_estimator.motion_estimator(
                 detections, frame_time, self.camera_name
             )