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/video.py

@@ -22,8 +22,10 @@ from frigate.log import LogPipe
 from frigate.motion import MotionDetector
 from frigate.motion.improved_motion import ImprovedMotionDetector
 from frigate.object_detection import RemoteObjectDetector
+from frigate.ptz.autotrack import ptz_moving_at_frame_time
 from frigate.track import ObjectTracker
 from frigate.track.norfair_tracker import NorfairTracker
+from frigate.types import PTZMetricsTypes
 from frigate.util.builtin import EventsPerSecond
 from frigate.util.image import (
     FrameManager,
@@ -461,6 +463,7 @@ def track_camera(
     result_connection,
     detected_objects_queue,
     process_info,
+    ptz_metrics,
 ):
     stop_event = mp.Event()
 
@@ -478,8 +481,6 @@ def track_camera(
     detection_enabled = process_info["detection_enabled"]
     motion_enabled = process_info["motion_enabled"]
     improve_contrast_enabled = process_info["improve_contrast_enabled"]
-    ptz_autotracker_enabled = process_info["ptz_autotracker_enabled"]
-    ptz_stopped = process_info["ptz_stopped"]
     motion_threshold = process_info["motion_threshold"]
     motion_contour_area = process_info["motion_contour_area"]
 
@@ -499,7 +500,7 @@ def track_camera(
         name, labelmap, detection_queue, result_connection, model_config, stop_event
     )
 
-    object_tracker = NorfairTracker(config, ptz_autotracker_enabled, ptz_stopped)
+    object_tracker = NorfairTracker(config, ptz_metrics)
 
     frame_manager = SharedMemoryFrameManager()
 
@@ -520,7 +521,7 @@ def track_camera(
         detection_enabled,
         motion_enabled,
         stop_event,
-        ptz_stopped,
+        ptz_metrics,
     )
 
     logger.info(f"{name}: exiting subprocess")
@@ -745,7 +746,7 @@ def process_frames(
     detection_enabled: mp.Value,
     motion_enabled: mp.Value,
     stop_event,
-    ptz_stopped: mp.Event,
+    ptz_metrics: PTZMetricsTypes,
     exit_on_empty: bool = False,
 ):
     fps = process_info["process_fps"]
@@ -781,10 +782,17 @@ def process_frames(
             logger.info(f"{camera_name}: frame {frame_time} is not in memory store.")
             continue
 
-        # look for motion if enabled
+        # look for motion if enabled and ptz is not moving
+        # ptz_moving_at_frame_time() always returns False for
+        # non ptz/autotracking cameras
         motion_boxes = (
             motion_detector.detect(frame)
-            if motion_enabled.value and ptz_stopped.is_set()
+            if motion_enabled.value
+            and not ptz_moving_at_frame_time(
+                frame_time,
+                ptz_metrics["ptz_start_time"].value,
+                ptz_metrics["ptz_stop_time"].value,
+            )
             else []
         )