Basic PTZ object autotracking functionality (#6913)

* Basic functionality

* Threaded motion estimator

* Revert "Threaded motion estimator"

This reverts commit 3171801607.

* Don't detect motion when ptz is moving

* fix motion logic

* fix mypy error

* Add threaded queue for movement for slower ptzs

* Move queues per camera

* Move autotracker start to app.py

* iou value for tracked object

* mqtt callback

* tracked object should be initially motionless

* only draw thicker box if autotracking is enabled

* Init if enabled when initially disabled in config

* Fix init

* Thread names

* Always use motion estimator

* docs

* clarify fov support

* remove size ratio

* use mp event instead of value for ptz status

* update autotrack at half fps

* fix merge conflict

* fix event type for mypy

* clean up

* Clean up

* remove unused code

* merge conflict fix

* docs: update link to object_detectors page

* Update docs/docs/configuration/autotracking.md

Co-authored-by: Nicolas Mowen <nickmowen213@gmail.com>

* clarify wording

* pass actual instances directly

* default return preset

* fix type

* Error message when onvif init fails

* disable autotracking if onvif init fails

* disable autotracking if onvif init fails

* ptz module

* verify required_zones in config

* update util after dev merge

---------

Co-authored-by: Nicolas Mowen <nickmowen213@gmail.com>

frigate/comms/mqtt.py

@@ -69,6 +69,11 @@ class MqttClient(Communicator):  # type: ignore[misc]
                 "ON" if camera.motion.improve_contrast else "OFF",  # type: ignore[union-attr]
                 retain=True,
             )
+            self.publish(
+                f"{camera_name}/ptz_autotracker/state",
+                "ON" if camera.onvif.autotracking.enabled else "OFF",
+                retain=True,
+            )
             self.publish(
                 f"{camera_name}/motion_threshold/state",
                 camera.motion.threshold,  # type: ignore[union-attr]
@@ -152,6 +157,7 @@ class MqttClient(Communicator):  # type: ignore[misc]
             "audio",
             "motion",
             "improve_contrast",
+            "ptz_autotracker",
             "motion_threshold",
             "motion_contour_area",
         ]